Add optimal control problems - quadcopter#373
Add optimal control problems - quadcopter#373m427kirb wants to merge 3 commits intoinfiniteopt:masterfrom
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pulsipher
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pulsipher
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Nice work thus far, this just needs some further refinements. Please refer to the existing examples as points of reference for the formatting and style.
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| # # Quadcopter Trajectory and Set Point Tracking | |||
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Instead of "set point", please use "setpoint" through out.
| # The quadcopter is an unmanned aerial vehicle with 4 propellors and in this case study, | ||
| # we seek to determine an optimal control policy for the | ||
| # 4 control inputs that must be adjusted over a specified time period to enable the | ||
| # quadcopter to closely follow given set points/trajectory while minimizing the difference between | ||
| # the set point and actual position and propellor input |
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I would clean up the grammar here a bit and be more succinct. This is a flight path tracking problem for a quadcopter UAV.
| # ## Background | ||
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| # Modelling the quadcopter trajectory is an infinite dimensional optimization problem. | ||
| # The variables are dependent on time. |
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| # Modelling the quadcopter trajectory is an infinite dimensional optimization problem. | ||
| # The variables are dependent on time. | ||
| # Using a sinusoidal setpoint trajectory and 5 minute time horizon, the problem formulation is as follows: |
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Move this to the formulation section
| # ``` | ||
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| # ## Model Definition | ||
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In all the sections below please reduce the number of spaces used. We shouldn't each line be orphaned by itself. Please refer to the other examples as a reference.
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Please add some discussion of the results at the end. Also, you need to had maintenance tests.
| plot(p1, p2, p3, p4, layout = l) | ||
| plot!(size=(800,600)) | ||
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| savefig("Control Input (U).png") |
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Let's display the plot instead of saving it.
2 participants
Created Issue #372
Motivation : Expands library of optimal control problems. Demonstrates usage of features such as parameter functions, multiple states and control inputs, trajectory tracking.
Example : The quadcopter is an unmanned aerial vehicle with 4 propellors and in this case study, we seek to determine an optimal control policy for the 4 control inputs that must be adjusted over a specified time period to enable the quadcopter to closely follow given set points/trajectory while minimizing the difference between the set point and actual position and propellor input.