Differential Drive Mpc control

[welid benchouche]

Hello all

I am trying to model and control a Differential drive robot to follow a trajectory using MPC, can you help me with that ?

i have attached files for the description of the problem 

thanks for your help and effort, thanks

[John Hedengren]

Welid,

Here is a close application: https://apmonitor.com/do/index.php/Main/ControlTypes

I recommend that you take a first attempt at modeling your system with simulation and then move on to control. Please search the documentation and examples for help and then let the group know when you've exhausted all of your resources and are stuck. Don't forget to use m.cos() and m.sin() instead of the numpy versions.

Best regards,

John Hedengren

--
--
APMonitor user's group e-mail list.
- To post a message, send email to apmo...@googlegroups.com
- To unsubscribe, send email to apmonitor+...@googlegroups.com
- Visit this group at http://groups.google.com/group/apmonitor
---
You received this message because you are subscribed to the Google Groups "apmonitor" group.
To unsubscribe from this group and stop receiving emails from it, send an email to apmonitor+...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/apmonitor/c7e491f2-f2af-4212-b8ab-6234db8db36a%40googlegroups.com.

--

Best regards,

John Hedengren

APMonitor Optimization Suite

http://apmonitor.com

[welid benchouche]

Hello professor,

I am bad in programming, and i am wondering on what should i use for modeling .gekko or matlab. If matlab. Can i use simulink ?

To view this discussion on the web visit https://groups.google.com/d/msgid/apmonitor/CAGNFaLGiGXKCGV7fL3kFtZk2BywOvZqmmMN8u0PMDE-vs%2BRcaw%40mail.gmail.com.

[John Hedengren]

Welid,

You may want to start with Python or MATLAB tutorials: https://apmonitor.com/che263

In particular, there are some tutorials on solving simple systems with ODEINT in Python:

https://apmonitor.com/pdc/index.php/Main/SolveDifferentialEquations

and also those same simple systems with Gekko:

https://apmonitor.com/pdc/index.php/Main/PythonDifferentialEquations

Simulink and MATLAB are also capable tools. If you need to do simulation only then a tool like ODEINT (or MATLAB ode23) may be sufficient for you. Gekko is a good tool if you need to use differential equations for control or optimization.

Best regards,

John Hedengren

---

From: apmo...@googlegroups.com <apmo...@googlegroups.com> on behalf of welid benchouche <welidbe...@gmail.com>
Sent: Friday, August 2, 2019 12:52 PM
To: apmo...@googlegroups.com
Subject: Re: [APM] Differential Drive Mpc control

 

To view this discussion on the web visit https://groups.google.com/d/msgid/apmonitor/CANBShNw4h8gJapo96y5Zpr21k2xaith0u5TWVG6DqNG3TMo7_w%40mail.gmail.com.