TY - DATA
T1 - Code for the Implementation of State-Dependent dynamic tube model predictive control            
PY - 2023/06/02
AU - Filip Surma
UR - 
DO - 10.4121/82150c4b-eea2-46f4-8a47-fcb6bf3d8e3d.v1
KW - Robust optimization
KW - Fuzzy model
KW - Model predictive control
N2 - <p>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.</p><p><br></p><p>SDD-TMPC needs to have a model of boundaries of future disturbance. I used a fuzzy logic-based model trained with a genetic algorithm.</p><p><br></p><p>4 scenarios were created to compare all methods:</p><p>1. Following a path in an empty trajectory</p><p>2. Moving closely to the wall</p><p>3. Moving through a narrow corridor.</p><p>4. Avoiding an obstacle</p><p><br></p>
ER -