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Add MPC-DC (N=5) which is infeasible

master
Jun Zeng 2021-02-08 13:37:30 -08:00
parent b43b51288e
commit 1e77989ef6
1 changed files with 15 additions and 1 deletions
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16
double-integrator-2D/analysis_horizon.m
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@ -59,12 +59,18 @@ controller_mpc_cbf_3.obs = obs;
controller_mpc_cbf_3.sim(time_total); controller_mpc_cbf_3.sim(time_total);
%% Simulate MPC-DC %% Simulate MPC-DC
% The problem is infeasible at N=5
% params.N = 5;
% controller_mpc_dc_0 = MPC_DC(x0, system, params);
% controller_mpc_dc_0.obs = obs;
% controller_mpc_dc_0.sim(time_total);
params.N = 7; params.N = 7;
controller_mpc_dc_1 = MPC_DC(x0, system, params); controller_mpc_dc_1 = MPC_DC(x0, system, params);
controller_mpc_dc_1.obs = obs; controller_mpc_dc_1.obs = obs;
controller_mpc_dc_1.sim(time_total); controller_mpc_dc_1.sim(time_total);
%% Simulate MPC-DC with larger horizon
params.N = 15; params.N = 15;
controller_mpc_dc_2 = MPC_DC(x0, system, params); controller_mpc_dc_2 = MPC_DC(x0, system, params);
controller_mpc_dc_2.obs = obs; controller_mpc_dc_2.obs = obs;
@ -173,6 +179,14 @@ fprintf('Computational time for MPC-CBF1: mean %.3f, std %.3f, min %.3f, max %.3
controller_mpc_cbf_1.u_cost,... controller_mpc_cbf_1.u_cost,...
min(controller_mpc_cbf_1.distlog)]); min(controller_mpc_cbf_1.distlog)]);
% fprintf('Computational time for MPC-DC0: mean %.3f, std %.3f, min %.3f, max %.3f, input cost %.3f, min dist %f\n',...
% [mean(controller_mpc_dc_0.solvertime),...
% std(controller_mpc_dc_0.solvertime),...
% min(controller_mpc_dc_0.solvertime),...
% max(controller_mpc_dc_0.solvertime),...
% controller_mpc_dc_0.u_cost,...
% min(controller_mpc_dc_0.distlog)]);
fprintf('Computational time for MPC-DC1: mean %.3f, std %.3f, min %.3f, max %.3f, input cost %.3f, min dist %f\n',... fprintf('Computational time for MPC-DC1: mean %.3f, std %.3f, min %.3f, max %.3f, input cost %.3f, min dist %f\n',...
[mean(controller_mpc_dc_1.solvertime),... [mean(controller_mpc_dc_1.solvertime),...
std(controller_mpc_dc_1.solvertime),... std(controller_mpc_dc_1.solvertime),...