Terminal Weights to nlmpc

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Saskia Putri
Saskia Putri 2023년 3월 3일
댓글: Saskia Putri 2023년 3월 8일
Hello everyone,
I am planning to add terminal weights and terminal constraints to my NMPC code. However, I am not sure how to define the cost function using the standard with additional terminal cost. Can anyone help me with this?
Thank you
Best,

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Emmanouil Tzorakoleftherakis
Emmanouil Tzorakoleftherakis 2023년 3월 3일
편집: Emmanouil Tzorakoleftherakis 2023년 3월 8일
For nonlinear mpc, the easiest way to do that is to use the multistage formulation and block. Then you can set constraints/cost for the final stage to accomplish what you need. Here is an example that you can use as a reference.
You could also do the same with the generic nonlinear MPC formulation that you are currently using, but it is a bit more complex. An example that you can follow is here. Here, you would need to provide constraints and weights as vectors for the entire prediction horizon, for each time step. So you can see how much more convenient the multistage formulation is where you have the flexibility to define cost/constraints at every stage/time step.
For linear MPC you can just set the desired weights in the standard cost and then call setterminal.
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Emmanouil Tzorakoleftherakis
Emmanouil Tzorakoleftherakis 2023년 3월 8일
You should be able to do that. That would make the weights time varying, so you would need to provide them at runtime (here is the doc explanation for this). I cannot think of an existing example with nonlinear mpc that does that, but here is a linear mpc one. The concept is similar.
Saskia Putri
Saskia Putri 2023년 3월 8일
Thank you very much!

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