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Code for the Implementation of State-Dependent dynamic tube model predictive control

Code for the Implementation of State-Dependent dynamic tube model predictive control

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Description

The code of this repository is used to implement and test a new algorithm called SDD-TMPC. It is a control algorithm that sacrifices a bit of optimality (much less than tube MPC) but returns robust solutions. In this repository, MPC, TMPC, and SDD-TMPC were implemented.

SDD-TMPC needs to have a model of boundaries of future disturbance. I used a fuzzy logic-based model trained with a genetic algorithm.

4 scenarios were created to compare all methods:

  1. Following a path in an empty trajectory

  2. Moving closely to the wall

  3. Moving through a narrow corridor.

  4. Avoiding an obstacle

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Keywords
Fuzzy model
Model predictive control
Robust optimization
Programming languages
License
  • MIT
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