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Adjust Some Parameters

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- Increase `sim_stop_idx` to near the limit
- Adjust some cost parameters
- Remove unused `NL` cost parameter
- Increase `fmincon` iteration & evaluation limits
- Decrease `fmincon` constraint tolerance
This commit is contained in:
Sravan Balaji
2021-12-13 16:07:22 -05:00
parent 593d451ebf
commit 390cdabc5a
1 changed files with 11 additions and 21 deletions
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32
Deliverables/MPC_Class.m
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@@ -54,9 +54,9 @@ classdef MPC_Class
]; ];
% Simulation Parameters % Simulation Parameters
T_s = 0.01; % Step Size [s] T_s = 0.01; % Step Size [s]
T_p = 0.5; % Prediction Horizon [s] T_p = 0.5; % Prediction Horizon [s]
sim_stop_idx = 2.0e3; % Index in reference trajectory to stop sim sim_stop_idx = 8700; % Index in reference trajectory to stop sim
% Decision Variables % Decision Variables
nstates = 6; % Number of states per prediction nstates = 6; % Number of states per prediction
@@ -81,28 +81,25 @@ classdef MPC_Class
% MPC & Optimization Parameters % MPC & Optimization Parameters
Q = [ ... % State Error Costs Q = [ ... % State Error Costs
1e-2; ... % x_err [m] 1e-2; ... % x_err [m]
1e-2; ... % u_err [m/s] 1e-2; ... % u_err [m/s]
1e-2; ... % y_err [m] 1e-2; ... % y_err [m]
1e-2; ... % v_err [m/s] 1e-2; ... % v_err [m/s]
1e-2; ... % psi_err [rad] 1e-2; ... % psi_err [rad]
1e-2; ... % r_err [rad/s] 1e-2; ... % r_err [rad/s]
]; ];
R = [ ... % Input Error Costs R = [ ... % Input Error Costs
1e0; ... % delta_f_err [rad] 1e-1; ... % delta_f_err [rad]
1e-2; ... % F_x_err [N] 1e-2; ... % F_x_err [N]
]; ];
NL = [ ... % Nonlinear Constraint Cost
1e6; ... % within track bounds
1e6; ... % outside obstacles
];
options = ... options = ...
optimoptions( ... optimoptions( ...
'fmincon', ... 'fmincon', ...
'MaxFunctionEvaluations', 3000, ... 'MaxFunctionEvaluations', 5000, ...
'MaxIterations', 3000, ... 'MaxIterations', 5000, ...
'SpecifyConstraintGradient', true, ... 'SpecifyConstraintGradient', true, ...
'SpecifyObjectiveGradient', true ... 'SpecifyObjectiveGradient', true, ...
'ConstraintTolerance', 1e-3 ...
); );
% Constraint Parameters % Constraint Parameters
@@ -176,13 +173,6 @@ classdef MPC_Class
obj.FLAG_terminate = 1; obj.FLAG_terminate = 1;
end end
% Stop sim if nonlinear constraint was violated
[c, ~] = obj.nonlcon(Z_err);
if any(c > 0)
disp('Found point violates nonlinear inequality constraint')
obj.FLAG_terminate = 1;
end
% NOTE: Error = Actual - Reference % NOTE: Error = Actual - Reference
% => Actual = Error + Reference % => Actual = Error + Reference
Z_ref = obj.get_ref_decision_variable(); Z_ref = obj.get_ref_decision_variable();