Nonlinear MPC contorl of quadrotor, Casadi #3558
Unanswered
aminrbspace
asked this question in
Q&A
Replies: 3 comments 1 reply
-
Need more information.
|
Beta Was this translation helpful? Give feedback.
0 replies
-
Hello, I hope you are fine.
1. No
2. ipopt
For quad rotor specifications, there are two cases: (simulation time steps:
(dt=0.02))
1) mass= .34 kg; Ixx= 321862.60*10^-9; Iyy= 305825.42*10^-9; Izz=
576255.87*10^-9;
2) mass= 2000 kg; Ixx= 12000; Iyy= 20000; Izz= 9000;
For case 1, Casadi works well by N=28, and follows my references well.
For case 2, I changed all weight matrices(Q, R) and prediction horizon in
many different values with spending a lot of time, but My model does not
follow my references and diverges
I have attached the output of two cases for your reference.
I would appreciate it if you can help me. Thank you.
Best regards,
…On Tue, Jan 30, 2024 at 1:09 AM Sandeepkumar R ***@***.***> wrote:
Need more information.
1. Does the solver fail?
2. Which solver and what does solver output look like?
—
Reply to this email directly, view it on GitHub
<#3558 (comment)>,
or unsubscribe
<https://github.com/notifications/unsubscribe-auth/ARGDWYSW2JWYPEZR4D7BFWDYQ7CUXAVCNFSM6AAAAABCPFOYMCVHI2DSMVQWIX3LMV43SRDJONRXK43TNFXW4Q3PNVWWK3TUHM4DEOBVHAZDO>
.
You are receiving this because you authored the thread.Message ID:
***@***.***>
|
Beta Was this translation helpful? Give feedback.
1 reply
-
Thank you so much for your response.
Actually, I did all these steps, but I could not get results, and I also
changed the weighting matrices from Identity to 1e6, but no changes in
results had been observed.
Best regards,
…On Tue, Jan 30, 2024 at 5:11 AM Sandeepkumar R ***@***.***> wrote:
1. ensure no plant-model mismatch
2. try setting the prediction horizon to entire simulation time and
see if the optimal trjaectory converges.
3. since IPOPT solver works fine, it has mostly to do with tuning or
discrepancies in the simulation setup.
—
Reply to this email directly, view it on GitHub
<#3558 (reply in thread)>,
or unsubscribe
<https://github.com/notifications/unsubscribe-auth/ARGDWYRLADRT3SWMAKFGQGLYQ77AFAVCNFSM6AAAAABCPFOYMCVHI2DSMVQWIX3LMV43SRDJONRXK43TNFXW4Q3PNVWWK3TUHM4DEOBZHE2DK>
.
You are receiving this because you authored the thread.Message ID:
***@***.***>
|
Beta Was this translation helpful? Give feedback.
0 replies
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
-
Hi, I controlled a quadrotor using CasADi for trajectory following(X,Y,Z). Then in another scenario, I changed parameters significantly in (mass, moment inertia), now unable to control desired trajectory. Adjusted weight matrices (Q, R) and prediction horizon without success. Appreciate any help. Thanks!
Beta Was this translation helpful? Give feedback.
All reactions