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550_Segway_Model
Our Model
MIPdynamics.pdf
README.md
README.md

MPC Final Project

Description

Final project for AEROSP: 740 Model Predictive Control (MPC) (Winter 2018).

Files (Inside the "Our Model" directory)

  • Segway_anim.m Code (Written by Jessy Grizzle and Eric Westervelt) to create cool animations of a planar MIP
  • formQPMatrices.m Generated matrices used for QP. Implementation from one of the AERO740 homework assignments
  • formQPMatricesSlack.m Generates matrices used for QP with slack variables. Implementation from one of the AERO740 homework assignments. Prince's implementation
  • formQPMatrices_slack.m Generates matrices used for QP with slack variables. Implementation from one of the AERO740 homework assignments. Matt's implementation
  • getDiscrete.m Given A, B, C, D matrices of a linear system and a sampling time T_s, returns the discrete time matrices A_d and B_d. Our code
  • main.n Main script that runs the simulation.
  • mip_model.m Takes the MIP equations of motion and computes \ddot{\phi} and \ddot{\theta} using symbolic variables.
  • mip_model_fast.m Takes the MIP equations of motion and computes \ddot{\phi} and \ddot{\theta} WITHOUT symbolic variables.
  • myQP.m Quadratic program solver. Implementation from one of the AERO740 homework assignments.
  • symLin.m Linearizes the MIP equations of motion about a reference state and reference input. Returns continuous-time A and B matrices which are the Jacobians of equations of motion. Uses symbolic variables.
  • symLinFast.m Linearizes the MIP equations of motion about a reference state and reference input. Returns continuous-time A and B matrices which are the Jacobians of equations of motion. WITHOUT symbolic variables.
  • test_model.m Small script to test pieces of our code as we were writing it up. Nothing of value here.

Authors

Prince Kuevor and Matthew Romano