MPC Toolbox : How to set "time optimal" Control problem using Custom Constrain function?

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종원 이 2023-2-1

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https://ww2.mathworks.cn/matlabcentral/answers/1904550-mpc-toolbox-how-to-set-time-optimal-control-problem-using-custom-constrain-function

评论： 종원 이 2023-2-7

采纳的回答： Emmanouil Tzorakoleftherakis

Hello,

I am trying to control some plant "time optimally" which means to reach target point in a minimal time.

However, I don't know how to put this "time" information into the cost function.

It seems MATLAB MPC toolbox only supports state, input and parameter for setting cost function.

I think it seems possible if I use parameter, but I don't know how.

Thank you for answering!

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Answer 1

Emmanouil Tzorakoleftherakis 2023-2-6

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https://ww2.mathworks.cn/matlabcentral/answers/1904550-mpc-toolbox-how-to-set-time-optimal-control-problem-using-custom-constrain-function#answer_1165020

Hello,

Unfortunately you cannot solve time-optimal problems with Model Predictive Control Toolbox because time cannot be used as a decision variable in the optimization. I have let the development team know about this and we will consider it for a future release. One workaround, although not equivalent, would be to use an error-based cost and weight the appropriate states as needed.