Activity for Genc Yavuz
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Genc Yavuz posted a comment on discussion General Discussion
Hello Krysten, could you share the solution of your Simple GRAMPC Example? This would be very helpful. Best regards, Genc Yavuz
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Dear Andreas, I have discovered that the lfct function is called often, depending on the parameters Nhor, T and dt. Also I have varying x values at every lfct call. How exactly does this work? Is lfct called at every step dt and thereby the cost function over the horizon T is evaluated stepwise? Is this the internal discretization that is done in the algorithm? This would mean that I would only have to incorporate the discrete reference points at the current timestep t+dt and not all the values along...
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Dear Andreas Völz, First of all, thank you for the detailed explanation, they are very helpful and help understanding the time dependencies more. Now, if I want to incorporate an output y = f(x, u) into my cost function in order to follow an output reference ydes, in my understanding I can define ydes with userparam. Is it possible to define the output inside the function lfct, depending on x and u? Is there anything special, besides the "normal" structure of GRAMPC I need to be aware of? Also, in...
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Hello, I am sorry for not answering, I have not worked on GRAMPC in the last weeks. The problem came up because I tried to give sth back to my Matlab code from the probfct definition by assigning it to userparam, what messed up the parameter structure. I still have some general questions about GRAMPC though. Despite reading every discussion on this page and reading the manual there are still some points I did not understand. In my understanding grampc.sol.xnext is the same as the first x in grampc.rws.x....
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Hello, I have a problem with my weights and constraints that I am defining in userparam. I have very weird errors when initializing the OCP in Matlab. Sometimes x0 has wrong dimension, then PenaltyMin has an invalid value, although I have quadruple-checked these values and they are 100% correct. By comparing my current code to the code from earlier stages, I saw that the only difference is in the definition of userparam. In the newer version, I defined more values in userparam than in the older one....
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