MPC_Implementation

Project description:

• A project to implement MPC control calculation with constraints on Microcomputer (Teensy4.1) for simple autonoumous driving control.
• The vehicle uses Kinematic Bicycle Model.
• The program utilizes Quadratic Programming solvers and run on PlatformIO IDE.

Structure:

Main files of this project are stored in src folder (because of platformIO configuration), including:

1. konfig.h
2. matrix.cpp
3. matrix.h
4. mpc.cpp
5. mpc.h
6. mpc_constrainedschur_engl.ino

Instruction:

• Install the PlatformIO
• Configure the system for Teensy40 (as environment) and Teensy41 (as a device, change this to your Arduino system, accordingly)
• Build and Upload

Configuration:

For custom implementation, you need to modify konfig.h and *.ino files. More specifically:

1. Set the length of X, U, Z vectors and sampling time dt in konfig.h, depend on your model.
2. Set the MPC parameters like Hp (Prediction Horizon) or Hu (Control Horizon) in konfig.h, depend on your application.
3. Enable/disable and set the MPC constraints parameters like DU, U, or Z in konfig.h, depend on your application.
4. Define the (linear) matrix system A, B, C and MPC initialization value weightQ, weightR in the *.ino file.

After that, you only need to initialize the MPC class, set the non-zero initialization matrix by calling MPC::vReInit(A, B, C, weightQ, weightR) function at initialization, and call the function MPC::bUpdate(SP, x, u) at every sampling time to calculate the control value u(k).

Calculation and algorithms (to be updated):

1. Matrix
2. Quadratic Programming solver
3. Optimization

This project is adapted from a public repo by pronenewbits. Thanks for developing such a good repo and detailed docs.

• https://github.com/pronenewbits/Arduino_Constrained_MPC_Library