MATLAB Online에서 열기 Hi I'm trying to implement an MPC controller for a two wheeled robot. I took the formulars for it out of the paper "Model Predictive Control of a Mobile Robot Using Linearization" from Küne et al. In the following you see my code.Itry to drive fr...
To use the block in simulation and code generation, you must specify anmpcobject, which defines a model predictive controller. This controller must have already been designed for the plant that it controls. Because theMPC Controllerblock usesMATLAB Functionblocks, it requires compilation each time ...
the values of the linear model input and output signals represent deviations with respect to their operating-point values in the nonlinear model. For more information, seeLinearization Using MATLAB Code.
A model predictive controller uses linear plant, disturbance, and noise models to estimate the controller state and predict future plant outputs.
例一:基于线性模型MPC控制 对于线性模型如下: x˙=Ax+Buy=Cx+Du 定义模型: A = [ -5 -0.3427; 47.68 2.785]; B = [ 0 1 0.3 0]; C = [0 1; 1 0]; D = zeros(2,2); CSTR = ss(A,B,C,D); 设置输入、输出、状态变量名,以及相应的单位: ...
The above code is the code of Model Predictive Control which is a normal MPC code. The MPC is designed based on the above state equations. I put the right value for the state-space equation, and the MPC controller didn't have any problem before. Bu...
Create and Simulate Multistage Nonlinear MPC Controller Copy Code Copy Command This example shows how to create and simulate a simple multistage MPC controller in closed loop, without using initial guesses, with the MATLAB® function nlmpcmove. Create Multistage MPC Controller Create a multistage non...
This MATLAB function checks for potential design issues in the model predictive controller with defined sample time, mpcobj, and generates a testing report.
To generate code from an MPC Controller block that uses a custom QP solver, enable the custom solver for code generation option in the MPC controller. mpcobj.Optimizer.CustomSolverCodeGen = true; You must also provide a MATLAB® function that satisfies all the following requirements: ...
Generate C and C++ code using MATLAB® Coder™. GPU Code Generation Generate CUDA® code for NVIDIA® GPUs using GPU Coder™. Version History Introduced in R2020a See Also Functions mpcActiveSetOptions|mpcInteriorPointSolver|mpcInteriorPointOptions|setCustomSolver|quadprog(Optimization Toolbox...