2021-code-convergence-properties-of-fast-quasi-lpv-model-predictive-control
Code for the paper "Convergence Properties of Fast quasi-LPV Model Predictive Control" by C. Hespe and H. Werner
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Repository
Code for the paper "Convergence Properties of Fast quasi-LPV Model Predictive Control" by C. Hespe and H. Werner
Basic Info
- Host: GitHub
- Owner: TUHH-ICS
- License: gpl-3.0
- Language: MATLAB
- Default Branch: master
- Homepage: https://www.tuhh.de/ics/
- Size: 50.8 KB
Statistics
- Stars: 6
- Watchers: 1
- Forks: 2
- Open Issues: 0
- Releases: 2
Topics
Metadata Files
README.md
Convergence Properties of Fast quasi-LPV Model Predictive Control
General
This repository contains the simulation code to reproduce the tables and figures presented in
C. Hespe and H. Werner, "Convergence Properties of Fast quasi-LPV Model Predictive Control," 60th Conference on Decision and Control. Austin, TX, USA, 2021, doi: 10.1109/CDC45484.2021.9683612.
The code has two main entry points, the scripts benchmark_adip.m and benchmark_unicycle.m, both in the root directory of this repository.
They will produce among others the material presented in the paper.
Prerequisites
To run the simulation files, some additional packages need to be installed first.
- Install acados, e.g. according to this guide
- Install CasADi into the
externaldirectory of acados, as described on the acados interface page - Create the environment variable
ACADOS_INSTALL_DIRpointing to the main acados directory
The simulation code in this repository was tested in the following environment:
- Windows 10 Version 21H1
- Matlab 2021a
- acados 0.1.6
- CasADi 3.5.5
In the default configuration, you will also need the Matlab Coder.
It is used to generate C code for the qLMPC solvers.
If you do not have access to Matlab Coder and want to run the simulation nonetheless, you can disable code generation in the main simulation scripts by setting generate_mex = false.
Owner
- Name: Institute of Control Systems - TUHH
- Login: TUHH-ICS
- Kind: organization
- Email: ics@tuhh.de
- Location: Hamburg, Germany
- Website: www.tuhh.de/ics
- Repositories: 5
- Profile: https://github.com/TUHH-ICS
Citation (CITATION.cff)
cff-version: 1.2.0
title: Convergence Properties of Fast quasi-LPV Model Predictive Control
message: If you use this software, please cite it using the metadata from this file.
type: software
authors:
- given-names: Christian
family-names: Hespe
affiliation: Hamburg University of Technology, Institute of Control Systems
orcid: 'https://orcid.org/0000-0001-5772-9044'
- given-names: Herbert
family-names: Werner
affiliation: Hamburg University of Technology, Institute of Control Systems
orcid: 'https://orcid.org/0000-0003-3456-5539'
identifiers:
- type: doi
value: 10.1109/CDC45484.2021.9683612
description: DOI of the accompanying paper
- type: doi
value: 10.5281/zenodo.4633758
description: DOI of the Zenodo archive
repository-code: https://github.com/TUHH-ICS/2021-code-convergence-properties-of-fast-quasi-lpv-model-predictive-control
repository: https://arxiv.org/abs/2309.07375
keywords:
- model predictive control
- optimization
- linear parameter-varying systems
license: GPL-3.0