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DOI: 10.4121/82150c4b-eea2-46f4-8a47-fcb6bf3d8e3d

Surma, Filip (2023): Code for the Implementation of State-Dependent dynamic tube model predictive control . Version 1. 4TU.ResearchData. software. https://doi.org/10.4121/82150c4b-eea2-46f4-8a47-fcb6bf3d8e3d.v1

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Categories

• Applied Mathematics
• Other Mathematical Sciences
• Mathematical Sciences

Keywords

Fuzzy model Model predictive control Robust optimization

Licence

MIT

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by Filip Surma

The code of this repository is used to implement and test a new algorithm called SDD-TMPC. It is a control algorithm that sacrifices a bit of optimality (much less than tube MPC) but returns robust solutions. In this repository, MPC, TMPC, and SDD-TMPC were implemented.

SDD-TMPC needs to have a model of boundaries of future disturbance. I used a fuzzy logic-based model trained with a genetic algorithm.

4 scenarios were created to compare all methods:

1. Following a path in an empty trajectory

2. Moving closely to the wall

3. Moving through a narrow corridor.

4. Avoiding an obstacle

History

• 2023-06-02 first online, published, posted

Publisher

4TU.ResearchData

Format

Matlab code, mat files, fig files

Derived from

• https://gitlab.tudelft.nl/fsurma/sddtmpc

Funding

• Netherlands Organization for Scientific Research, 655.010.207

Organizations

TU Delft, Faculty of Aerospace Engineering, Department of Control & Simulation