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InitData_ngrid.m
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InitData_ngrid.m
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%% Initialization
function [input, data] = InitData_ngrid(settings)
nx = settings.nx; % No. of differential states
nu = settings.nu; % No. of controls
nz = settings.nz; % No. of algebraic states
ny = settings.ny; % No. of outputs (references)
nyN= settings.nyN; % No. of outputs at terminal stage
np = settings.np; % No. of parameters (on-line data)
nc = settings.nc; % No. of constraints
ncN = settings.ncN; % No. of constraints at terminal stage
N = settings.N; % No. of shooting points
r = settings.r; % No. of input move blocks
nbx = settings.nbx; % No. of state bounds
nbu = settings.nbu; % No. of control bounds
nbu_idx = settings.nbu_idx; % Index of control bounds
switch settings.model
case 'InvertedPendulum'
input.x0 = [0;pi;0;0];
input.u0 = zeros(nu,1);
input.z0 = zeros(nz,1);
para0 = 0;
Q=repmat([10 10 0.1 0.1 0.01]',1,r);
QN=[10 10 0.1 0.1]';
% upper and lower bounds for states (=nbx)
lb_x = -2;
ub_x = 2;
% upper and lower bounds for controls (=nbu)
lb_u = -20;
ub_u = 20;
% upper and lower bounds for general constraints (=nc)
lb_g = [];
ub_g = [];
lb_gN = [];
ub_gN = [];
case 'ChainofMasses_Lin'
n=5;
data.n=n;
input.x0=zeros(nx,1);
input.z0 = zeros(nz,1);
for i=1:n
input.x0(i)=7.5*i/n;
end
input.u0=zeros(nu,1);
para0=0;
wv=[];wx=[];
wu = [0.1 0.1 0.1];
for i=1:3
wx = [wx, 25];
wv = [wv, 0.25*ones(1,n-1)];
end
Q = repmat([wx,wv,wu]',1,r);
QN= [wx,wv]';
% upper and lower bounds for states (=nbx)
lb_x = [];
ub_x = [];
% upper and lower bounds for controls (=nbu)
lb_u = [-1;-1;-1];
ub_u = [1;1;1];
% upper and lower bounds for general constraints (=nc)
lb_g = [];
ub_g = [];
lb_gN = [];
ub_gN = [];
case 'ChainofMasses_NLin'
n=10;
data.n=n;
input.x0=[0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 zeros(1,nx-n)]';
input.u0=zeros(nu,1);
input.z0 = zeros(nz,1);
para0=0;
wv=[];wx=[];
wu=[0.01, 0.01, 0.01];
for i=1:3
wx=[wx,25];
wv=[wv,ones(1,n-1)];
end
Q = repmat([wx,wv,wu]',1,r);
QN= [wx,wv]';
% upper and lower bounds for states (=nbx)
lb_x = [];
ub_x = [];
% upper and lower bounds for controls (=nbu)
lb_u = [-1;-1;-1];
ub_u = [1;1;1];
% upper and lower bounds for general constraints (=nc)
lb_g = [];
ub_g = [];
lb_gN = [];
ub_gN = [];
case 'TethUAV'
input.x0=[0; 0; 0; 0; 9.81; 0];%zeros(nx,1);
input.u0=[0; 0; 0; 0];%zeros(nu,1);%
input.z0 = zeros(nz,1);
alpha = pi/6;
para0=[-alpha; alpha];
% phi phi_dot theta theta_dot
q = [200, 1, 200, 0, 0.0001, 0.0001, 1, 1, 1, 0, 5000, 5000];
qN = q(1:nyN);
Q = repmat(q',1,r);
QN = qN';
fR_min = 0;%-inf;
fR_max = 15;%inf;
tauR_min = -1.2;%-inf;
tauR_max = 1.2;%inf;
fL_min = 0;%-inf;
fL_max = 10;%inf;
constr_max = 0;
constr_min = -inf;
s1_min = 0;
s1_max = inf;
s2_min = 0;
s2_max = inf;
% upper and lower bounds for states (=nbx) if f1,2 are f_R, tau_R
lb_x = [fR_min; tauR_min]; %0*ones(nbx,1);
ub_x = [fR_max; tauR_max]; %omegaMax*ones(nbx,1);
% upper and lower bounds for controls (=nbu)
lb_u = [s1_min; s2_min];
ub_u = [s1_max; s2_max];
% upper and lower bounds for general constraints (=nc)
lb_g = [fL_min; constr_min; constr_min];
ub_g = [fL_max; constr_max; constr_max];
lb_gN = [fL_min];
ub_gN = [fL_max];
case 'DiM'
input.x0 = zeros(nx,1); % initial state
input.u0 = zeros(nu,1); % initial control
input.z0 = zeros(nz,1);
para0 = 0; % initial parameters (by default a np by 1 vector, if there is no parameter, set para0=0)
%weighting matrices
Q=[1200,1200,2000,800,800,5800,... % perceived acc and angular vel
32000*1.1,32000*1.1,1600*1,... %px,py,pz hex
3200*1.1,3200*1.1,2000*1,... %vx, vy, vz hex
4600*1,600*1,... % x,y tri
850*1,850*1,... % vx,vy tri
3700,3000,1500,... % phi, theta, psi hex
750,... % phi tri
0.01,0.0,0.0,... % omega phi,theta,psi hex
500.0,... % omega phi tri
0.0,0.0,0.001,... %ax,ay,az hex % 20*1.1,20*1.1,... % ax,ay tri
0.0,0.01,0.1 ... % alpha phi,theta, psi hex
];
Q = repmat(Q',1,r);
QN=Q(1:nyN,1);
% upper and lower bounds for states (=nbx)
lb_x = [];
ub_x = [];
% upper and lower bounds for controls (=nbu)
lb_u = [];
ub_u = [];
% upper and lower bounds for general constraints (=nc)
lb_g=[1.045;1.045;1.045;1.045;1.045;1.045]; % lower bounds for ineq constraints
ub_g=[1.3750;1.3750;1.3750;1.3750;1.3750;1.3750]; % upper bounds for ineq constraints
lb_gN=[1.045;1.045;1.045;1.045;1.045;1.045]; % lower bounds for ineq constraints at terminal point
ub_gN=[1.3750;1.3750;1.3750;1.3750;1.3750;1.3750]; % upper bounds for ineq constraints at terminal point
case 'TurboEngine'
input.x0 = [1.2; 1.2; 0; 0];
input.u0 = zeros(nu,1);
input.z0 = [1.1; 1.1];
para0 = [2000; -0.3];
Q=repmat([10 1e-7*0.05 1e-6*0.05]',1,r);
QN=[10]';
% upper and lower bounds for states (=nbx)
lb_x = [0;0];
ub_x = [100;100];
% upper and lower bounds for controls (=nbu)
lb_u = [-800; -800];
ub_u = [800; 800];
% upper and lower bounds for general constraints (=nc)
lb_g = [0; 0; 0];
ub_g = [2; 90e3/60; 180e3/60];
lb_gN = [0; 0; 0];
ub_gN = [2; 90e3/60; 180e3/60];
end
% prepare the data
input.lb = repmat(lb_g,r,1);
input.ub = repmat(ub_g,r,1);
input.lb = [input.lb;lb_gN];
input.ub = [input.ub;ub_gN];
lbu = -inf(nu,1);
ubu = inf(nu,1);
for i=1:nbu
lbu(nbu_idx(i)) = lb_u(i);
ubu(nbu_idx(i)) = ub_u(i);
end
input.lbu = repmat(lbu,1,r);
input.ubu = repmat(ubu,1,r);
input.lbx = repmat(lb_x,1,r);
input.ubx = repmat(ub_x,1,r);
x = repmat(input.x0,1,r+1); % initialize all shooting points with the same initial state
u = repmat(input.u0,1,r); % initialize all controls with the same initial control
z = repmat(input.z0,1,r); % initialize all algebraic state with the same initial condition
para = repmat(para0,1,r+1); % initialize all parameters with the same initial para
input.x=x; % (nx by N+1)
input.u=u; % (nu by N)
input.z=z; % (nz by N)
input.od=para; % (np by N+1)
input.W=Q; % (ny by N)
input.WN=QN; % (nyN by 1)
input.lambda=zeros(nx,r+1);
input.mu=zeros(r*nc+ncN,1);
input.mu_u = zeros(r*nu,1);
input.mu_x = zeros(r*nbx,1);
%% Reference generation
switch settings.model
case 'InvertedPendulum'
data.REF=zeros(1,nx+nu);
case 'ChainofMasses_Lin'
data.REF=[7.5,0,0,zeros(1,3*(n-1)),zeros(1,nu)];
case 'ChainofMasses_NLin'
data.REF=[1,0,0,zeros(1,3*(n-1)),zeros(1,nu)];
case 'TethUAV'
data.REF = zeros(1, ny);
case 'DiM'
load REF_DiM_2;
REF_DiM_2 = [REF_DiM_2, zeros(5000,24)];
data.REF = REF_DiM_2;
case 'TurboEngine'
data.REF=[1.4, 0, 0];
end
end