using ModelPredictiveControl, JuMP, UnoSolver
function f!(ẋ, x, u, _ , p)
g, L, K, m = p
θ, ω = x[1], x[2]
τ = u[1]
ẋ[1] = ω
ẋ[2] = -g/L*sin(θ) - K/m*ω + τ/m/L^2
end
h!(y, x, _ , _ ) = (y[1] = 180/π*x[1])
p = [9.8, 0.4, 1.2, 0.3]
nu = 1; nx = 2; ny = 1; Ts = 0.1
pendulum_model = NonLinModel(f!, h!, Ts, nu, nx, ny; p)
pendulum_p = p
h2!(y, x, _ , _ ) = (y[1] = 180/π*x[1]; y[2]=x[2])
nu, nx, ny = 1, 2, 2
pendulum_model2 = NonLinModel(f!, h2!, Ts, nu, nx, ny; p)
pendulum_p2 = p
Hp, Hc, Mwt, Nwt, Cwt = 20, 2, [0.5], [2.5], Inf
umin, umax = [-1.5], [+1.5]
model2, p = pendulum_model2, pendulum_p2
plant2 = deepcopy(model2)
plant2.p[3] = 1.25*p[3] # plant-model mismatch
σQ = [0.1, 1.0]; σR=[5.0]; nint_u=[1]; σQint_u=[0.1]
estim2 = UnscentedKalmanFilter(model2; σQ, σR, nint_u, σQint_u, i_ym=[1])
function JE(UE, ŶE, _ , p, _)
Ts = p
τ, ω = @views UE[1:end-1], ŶE[2:2:end-1]
return Ts*dot(τ, ω)
end
p = Ts; Mwt2 = [Mwt; 0.0]; Ewt = 3.5e3
x_0 = [0, 0]; x̂_0 = [0, 0, 0]; ry = [180; 0]
function gc!(LHS, Ue, Ŷe, _, p, ϵ)
Pmax = p
i_τ, i_ω = 1, 2
for i in eachindex(LHS)
τ, ω = Ue[i_τ], Ŷe[i_ω]
P = τ*ω
LHS[i] = P - Pmax - ϵ
i_τ += 1
i_ω += 2
end
return nothing
end
Cwt, Pmax, nc = 1e4, 3, Hp+1
x_0 = [0, 0]; x̂_0 = [0, 0, 0]; ry = [180; 0]
N = 35
optim = JuMP.Model(()->UnoSolver.Optimizer(preset="funnelsqp"), add_bridges=false)
transcription, hessian = OrthogonalCollocation(), true
nmpc = NonLinMPC(estim2;
Hp, Hc, Nwt=Nwt, Mwt=[0.5, 0], Cwt, gc!, nc, p=Pmax, transcription, hessian, optim
)
nmpc = setconstraint!(nmpc; umin, umax)
JuMP.unset_time_limit_sec(nmpc.optim)
res = sim!(nmpc, N, ry; plant=plant2, x_0=x_0, x̂_0=x̂_0)
@time sim!(nmpc, N, ry; plant=plant2, x_0=x_0, x̂_0=x̂_0)
using Plots
theme(:default)
#theme(:dark)
default(fontfamily="Computer Modern"); scalefontsizes(1.1)
plot(res) |> displayIt is so slow that I was not able to wait long enough for the results. It also print many error messages:
insufficient space available for profile
mxws,qrow,len_ 5525 5376 151
insufficient space available for profile
mxws,qrow,len_ 5525 5448 153
insufficient space available for profile
mxws,qrow,len_ 5525 5525 5
insufficient space available for profile
mxws,qrow,len_ 5525 5392 152
insufficient space available for profile
mxws,qrow,len_ 5525 5386 159
# [...]
2.207571 seconds (4.18 M allocations: 572.806 MiB, 3.97% gc time)
Hello @cvanaret 👋 !
I noticed that this example with an
OrthogonalCollocation()transcription is now extremely slow onUnoSolver v0.3.4. It's a case study from my benchmark suite:It is so slow that I was not able to wait long enough for the results. It also print many error messages:
The example run without any issue on
UnoSolver v0.3.0, printing:Thanks for your time!