Moving Horizon Estimation, Fault tolerant

[라비이베헤슈티아민]

Hi, I'm working on fault-tolerant control using MPC and moving horizon estimation for a quadrotor. The MPC works well without faults, but when a fault occurs, the MHE doesn't give correct results, even though I've tuned the weighting matrices and arrival cost many times. Can anyone help me fix this?  

[John Hedengren]

There are several support resources listed here: https://gekko.readthedocs.io/en/latest/support.html

For Python Gekko applications, I recommend first using the Gekko support GPT4: https://chatgpt.com/g/g-sl8WNWdO7-gekko-support

If you still need help with the specifics, please create a new StackOverflow post with a minimal code example that reproduces the undesired behavior: https://stackoverflow.com/questions/tagged/gekko

-John Hedengren

On Mon, Oct 21, 2024 at 11:07 AM 라비이베헤슈티아민 <ami...@gnu.ac.kr> wrote:

Hi, I'm working on fault-tolerant control using MPC and moving horizon estimation for a quadrotor. The MPC works well without faults, but when a fault occurs, the MHE doesn't give correct results, even though I've tuned the weighting matrices and arrival cost many times. Can anyone help me fix this?  

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