Activity for Francis
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Francis posted a comment on discussion General Discussion
Hi Mohamed, I am facing a similar problem now. Is there any update on this? I tried to estimate the disturbance. To to do this, I defined it as the control input. However, the estimator did not converge. Thanks.
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For the sign function, maybe you can trying rewriting sign(x) as x/abs(x)?
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Hi Rien, Thanks for your explanation. I'll try that. Best regards, Francis
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Hi all, For estimation problem, measurements with different updating frequency might be used. For example, the updating frequency for measurement y1 is 10 Hz, and that for y2 is 1 Hz. In the paper "Fast auto generated ACADO integrators and application to MHE with multi-rate measurements", it mentioned this problem but didn't go into detail on how to implement this in ACADO toolkit. My questions are as follows: Is this supported in the toolkit? How to do that? If continuous output functionality is...
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Hi Rien, Further tests suggest that it does seem like only certain combinination of options works. For example, the following option works. mhe.set( 'SPARSE_QP_SOLUTION', 'FULL_CONDENSING_N2'); mhe.set( 'FIX_INITIAL_STATE', 'NO'); mhe.set(' CG_HARDCODE_CONSTRAINT_VALUES', 'NO'); But when I change the 'SPARSE_QP_SOLUTION' to ‘CONDENSING' the compilation fails. Also, whenever the following two options exist together, the compilation fails. mhe.set(' CG_HARDCODE_CONSTRAINT_VALUES', 'NO'); mhe.set('CG_USE_ARRIVAL_COST',...
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Hi Rein, Thanks for your reply. It's very strange that it just didn't succeed even though I used the combination of options you suggested as I did before both in C++ and in MATLAB interface. In C++, there is no error message at all. In MATLAB, it just says that "error C2039: “lbValues”: is not a member of “ACADOvariables_". In MPC formulation, the "CG_HARDCODE_CONSTRAINT_VALUES" option works just fine. Attached are the C++ and MATLAB files I tested modified from the crane example. Thank you in advance....
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I did more tests on this. Under C++ environment it could successfully finish the compilation process and generate the revelant C files. However, there are no lbValues and ubValues in the generated "acado_common.h" file. While under MATLAB interface, it couldn't even finish the compilation process. It gives errors like lbValues is not a member of ACADOvariables. Indeed there are no such variables in the "acado_common.h" file. It is very strange what happened above. On page 110 of the ACADO Toolkit...
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I did more test on this. Under C++ environment it could successfully finish the compilation process and generate the revelant C files. However, there are no lbValues and ubValues in the generated "acado_common.h" file. While under MATLAB interface, it couldn't even finish the compilation process. It gives the errors like lbValues is not a member of ACADOvariables. Indeed there are no such variables in the "acado_common.h" file. It is very strange what happened above. On page 110 of the ACADO Toolkit...
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Hi all, I'm trying to plot the results calculated by the crane_kul_mhe_test.cpp file in the code_generation folder. I added this #include <acado_gnuplot.hpp> in the beginning of the file, but the Ubunbu terminal (version16.04) kept telling me that "fatal error: there is no such file or directory acado_gnuplot.hpp". As I'm new to Linux and C++, could anyone help me with this? Thank you in advance. Francis
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Hi all, I'm trying to implement time-varying constraints in MHE framework but didn't succeed. In the following post, https://sourceforge.net/p/acado/discussion/general/thread/8fecd4db/ it says that time-varying constraints are supported in MPC framework. I set the option "CG_HARDCODE_CONSTRAINT_VALUES" to "NO" as instructed there, but it failed to compile. So I'm wondering is time-varying constraints in MHE framework? Or I missed something? By the way, I'm using the latest master version in MATLAB...
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Hi all, I'm trying to implement time-varying constraints in MHE framework but didn't succeed. In the following post, https://sourceforge.net/p/acado/discussion/general/thread/8fecd4db/ it says that time-varying constraints are supported in MPC framework. I set the option "CG_HARDCODE_CONSTRAINT_VALUES" to "NO" as instructed there, but it failed to compile. So I'm wondering is time-varying constraints in MHE framework? Or I missed something? By the way, I'm using the latest master version in MATLAB...
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Hi all, I'm trying to implement time-varying constraints in MHE framework but didn't succeed. In the following post, https://sourceforge.net/p/acado/discussion/general/thread/8fecd4db/ it says that time-varying constraints are supported in MPC framework. I set the option "CG_HARDCODE_CONSTRAINT_VALUES" to "NO" as instructed there, but it failed to compile. So I'm wondering is time-varying constraints in MHE framework? Or I missed something? By the way, I'm using the latest master version. Thank you...
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Hi all, I'm trying to implement time-varying constraints in MHE framework but didn't succeed. In the following post, https://sourceforge.net/p/acado/discussion/general/thread/8fecd4db/ it says that time-varying constraints are supported in MPC framework. I set the option "CG_HARDCODE_CONSTRAINT_VALUES" to "NO" as instructed there, but it failed to compile. So I'm wondering is time-varying constraints in MHE framework? Or I missed something? Thank you in advance. France
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Hi all, Recently, I'm using ACADO CGT to implement MHE, but some strange thing happened....
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Hi Rien, There's some misuse in adjusting the weighting matrix before, and thank...
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Hi Rien, There's some misuse in adjusting the weighting matrix before, and thank...
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Hi Rien, There's some misuse in adjusting the weighting matrix before, and thank...
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Hi Rien, I tried to compile my model under Linux environment (installed within the...
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Hi Rien, I tried to compile my model under Linux environment (installed within the...
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Hi Rien, I tried to compile my model under Linux environment (installed within the...
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Hi Rien, Many thanks to you. I did the following three things as you suggested, and...
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Dear ACADO community, Thank you very much for developing such a good tool for optimal...
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Dear ACADO community, Thank you very much for developing such a good tool for optimal...
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