The class OCP is a data wrapper for defining optimal control problems.
Usage:
>> OCP(); Define an OCP without start and end time. Do
this only when setting start and end times
in the differential equation object.
>> OCP(timepoints); Define a grid of timepoints (used in
parameter estimation)
>> OCP(tStart, tEnd); Normal OCP formulation with start and end time
>> OCP(tStart, tEnd, N); Normal OCP formulation with, start and end
time + number of intervals
Parameters:
tStart start of the time horizon of the OCP [NUMERIC]
tEnd end of the time horizon of the OCP [NUMERIC/PARAMETER]
N number of discretization intervals [NUMERIC]
timepoints vector with timepoints [1xn NUMERIC VECTOR]
Example:
>> ocp = acado.OCP(0.0, 1.0, 20);
>> ocp = acado.OCP(0.0, T, 20);
>> ocp = acado.OCP(0.0, T);
>> M = [0 1 5 6 7 10];
>> ocp = acado.OCP(M);
See also:
acado.OCP.minimizeLSQ Least squares term
acado.OCP.minimizeLSQEndTerm
acado.OCP.minimizeMayerTerm Mayer Term
acado.OCP.maximizeMayerTerm
acado.OCP.minimizeLagrangeTerm Lagrange Term
acado.OCP.maximizeLagrangeTerm
acado.OCP.subjectTo Bounds, constraints
Licence:
This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/)
ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
Developed within the Optimization in Engineering Center (OPTEC) under
supervision of Moritz Diehl. All rights reserved.
ACADO Toolkit is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.
ACADO Toolkit is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with ACADO Toolkit; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Author: David Ariens
Date: 2009-20100001 %The class OCP is a data wrapper for defining optimal control problems. 0002 % 0003 % Usage: 0004 % >> OCP(); Define an OCP without start and end time. Do 0005 % this only when setting start and end times 0006 % in the differential equation object. 0007 % 0008 % >> OCP(timepoints); Define a grid of timepoints (used in 0009 % parameter estimation) 0010 % 0011 % >> OCP(tStart, tEnd); Normal OCP formulation with start and end time 0012 % 0013 % >> OCP(tStart, tEnd, N); Normal OCP formulation with, start and end 0014 % time + number of intervals 0015 % 0016 % Parameters: 0017 % tStart start of the time horizon of the OCP [NUMERIC] 0018 % tEnd end of the time horizon of the OCP [NUMERIC/PARAMETER] 0019 % N number of discretization intervals [NUMERIC] 0020 % timepoints vector with timepoints [1xn NUMERIC VECTOR] 0021 % 0022 % 0023 % Example: 0024 % >> ocp = acado.OCP(0.0, 1.0, 20); 0025 % >> ocp = acado.OCP(0.0, T, 20); 0026 % >> ocp = acado.OCP(0.0, T); 0027 % >> M = [0 1 5 6 7 10]; 0028 % >> ocp = acado.OCP(M); 0029 % 0030 % 0031 % See also: 0032 % acado.OCP.minimizeLSQ Least squares term 0033 % acado.OCP.minimizeLSQEndTerm 0034 % acado.OCP.minimizeMayerTerm Mayer Term 0035 % acado.OCP.maximizeMayerTerm 0036 % acado.OCP.minimizeLagrangeTerm Lagrange Term 0037 % acado.OCP.maximizeLagrangeTerm 0038 % acado.OCP.subjectTo Bounds, constraints 0039 % 0040 % 0041 % Licence: 0042 % This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/) 0043 % 0044 % ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 0045 % Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven. 0046 % Developed within the Optimization in Engineering Center (OPTEC) under 0047 % supervision of Moritz Diehl. All rights reserved. 0048 % 0049 % ACADO Toolkit is free software; you can redistribute it and/or 0050 % modify it under the terms of the GNU Lesser General Public 0051 % License as published by the Free Software Foundation; either 0052 % version 3 of the License, or (at your option) any later version. 0053 % 0054 % ACADO Toolkit is distributed in the hope that it will be useful, 0055 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0056 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 0057 % Lesser General Public License for more details. 0058 % 0059 % You should have received a copy of the GNU Lesser General Public 0060 % License along with ACADO Toolkit; if not, write to the Free Software 0061 % Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 0062 % 0063 % Author: David Ariens 0064 % Date: 2009-2010 0065 % 0066 classdef OCP < acado.MultiObjectiveFunctionality 0067 properties (SetAccess='private') 0068 name = 'ocp'; 0069 0070 % Constructor 0071 tStart; 0072 tEnd; 0073 N; 0074 grid = {}; 0075 0076 % Objective 0077 minMayerTerms = {}; 0078 maxMayerTerms = {}; 0079 0080 minLagrangeTerms = {}; 0081 maxLagrangeTerms = {}; 0082 0083 minLSQTermS = {}; 0084 minLSQTermh = {}; 0085 minLSQTermr = {}; 0086 0087 minLSQEndTermS = {}; 0088 minLSQEndTermh = {}; 0089 minLSQEndTermr = {}; 0090 0091 % Subject to 0092 subjectoItems = {}; 0093 end 0094 0095 methods 0096 function obj = OCP(varargin) 0097 checkActiveModel; 0098 0099 global ACADO_; 0100 ACADO_.count_ocp = ACADO_.count_ocp+1; 0101 obj.name = strcat(obj.name, num2str(ACADO_.count_ocp)); 0102 0103 if (nargin == 2 ) %OCP(tStart, tEnd) 0104 obj.tStart = acado.DoubleConstant(varargin{1}); 0105 0106 if (isa(varargin{2}, 'acado.Expression')) 0107 obj.tEnd = varargin{2}; 0108 else 0109 obj.tEnd = acado.DoubleConstant(varargin{2}); 0110 end 0111 0112 elseif (nargin == 3) %OCP(tStart, tEnd, N) 0113 obj.tStart = acado.DoubleConstant(varargin{1}); 0114 0115 if (isa(varargin{2}, 'acado.Expression')) 0116 obj.tEnd = varargin{2}; 0117 else 0118 obj.tEnd = acado.DoubleConstant(varargin{2}); 0119 end 0120 0121 obj.N = acado.DoubleConstant(varargin{3}); 0122 0123 elseif (nargin == 1) %OCP(timepoints) 0124 obj.grid = acado.Vector(varargin{1}); 0125 0126 end 0127 0128 0129 ACADO_.helper.addInstruction(obj); 0130 0131 end 0132 0133 0134 function result = checkVectorMatrix(obj, r) 0135 0136 if (isa(r, 'acado.MexInputVector')) 0137 result = acado.Vector(r); 0138 0139 elseif(isa(r, 'acado.MexInputMatrix')) 0140 result = acado.Matrix(r); 0141 0142 else 0143 [m n] = size(r); 0144 0145 if( (m == 1 && n >= 1) || (m >= 1 && n == 1) ) 0146 result = acado.Vector(r); 0147 else 0148 result = acado.Matrix(r); 0149 end 0150 end 0151 0152 end 0153 0154 0155 maximizeMayerTerm(obj, varargin) 0156 minimizeMayerTerm(obj, varargin) 0157 0158 minimizeLagrangeTerm(obj, varargin) 0159 maximizeLagrangeTerm(obj, varargin) 0160 0161 minimizeLSQ(obj, varargin) 0162 minimizeLSQEndTerm(obj,varargin) 0163 0164 subjectTo(obj, varargin) 0165 0166 getInstructions(obj, cppobj, get) 0167 0168 end 0169 0170 end 0171