Hello
In order for the MPC solver to optimize the inputs a reference trajectory is needed.
How much is it important to generate a correct reference ?
and How to regenerate that reference for Trajectory tracking tasks ?
Thank you a lot
Hi Salah Eddine Ghamri
If you intend to control the motion on a flat plane (x, y), perhaps you can specify a pair of parametric equations with the time parameter, t: x(t) and y(t)
You can plan the trajectory on a graph paper. Each dot may represent one-second lapse.
Dear Salah Eddine,
In add to a good council from our colleague Yew-Chung Chak i propose you to take a look at links and attached files on topic.
https://www.researchgate.net/publication/3332252_Tracking_control_of_unicycle-modeled_mobile_robots_using_a_saturation_feedback_controller
https://people.kth.se/~kallej/papers/multirobot_auto18zun.pdf
https://arxiv.org/pdf/1310.0064.pdf
Best regards
it depends on the non-linearity of your system (defined in your MPC). For non-linear cases the quality of the solution , convergence rate and calculation time is a function of your reference trajectory or your initial solution.
I hope this help, if not you can write me a message.
regards
Reza
Hey Salah
please check out the scenario designer app in MATLAB, you may find it like real user-friendly and easy peasy.
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