-
Notifications
You must be signed in to change notification settings - Fork 94
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Error in control input for larger noise levels #19
Comments
Repository owner
deleted a comment from
wtllll
May 13, 2023
@CheeGY Thanks for your report! |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Hi!
First of all, thanks for this repository! I think it is very useful for anyone who is starting to get in touch with tube-based MPC.
I was testing out the example in the repository and notice something peculiar. When I set the noise level from 0.15 to 0.2, i.e.,
from:
W_vertex = [0.15, 0.15; 0.15, -0.15; -0.15, -0.15; -0.15, 0.15];
to:
vertex_max = 0.2;
W_vertex = [vertex_max, vertex_max; vertex_max, -vertex_max; -vertex_max, -vertex_max; -vertex_max, vertex_max];
I observe that
(i) the values of the final control input (u0 + K(x-x0)) exceed the constraint set (
Uc
) in the first timestep, and(ii) the values of the nominal control input (u0) exceed the robust constraint set (
Uc_robust
) in the first timestep.Here is a plot of the time histories of the final and nominal control inputs. The blue line is the final control input and the red line is the nominal control input. The control limits are at [-1, 1].
I think we should expect the final control input to stay within
Uc
, is that correct?Hope to hear from you and happy to discuss. Thanks!
The text was updated successfully, but these errors were encountered: