Data-driven Model Predictive Control of 3-DoF Helicopters including mathematical modelling, data generation and control algorithm implementation. This repo is the result of a part-time student employement at the Institute of Systems Theory and Automatic Control at the University of Stuttgart under the supervision of Prof. Frank Allgöwer.
- Matlab 2020b
- qpOASES (will be pulled as submodule upon cloning)
The scripts directory contains the main scripts to run all relevant Simulink models with the controllers. The controllers are initialized in each respective script and implemented in the respective model. The main scripts are
quadprog_fixed_data.m
quadprog_updated_data.m
quadprog_scheduled_data.m
qpOases_uncondensed.m
qpOases_condensed.m
The qpOASES library has to be compiled first to run the related scripts/models. It is recommended to read the manual first. After cloning/pulling the repo, in the core folder, move the adjusted file qpOASES_SQProblem into the interfaces\simulink subdirectory in qpOASES to allow for computation time restriction.
data-driven-MPC-of-helicopters
│ README.md
│
└───data
│ │ datatraj_elevation.mat
│ │ datatraj_travel.mat
│ | qpMat_elevation.mat
| └───qpMat_travel.mat
│
└───doc
│ └───Data-driven-MPC-of-3-DoF-Helicopters.pdf
│
└───src
│ └───core
| | | @qpOASES
| | └───qpOASES_SQProblem.cpp
| |
│ └───functions
| | └───hankel_c.m
| |
│ └───models
| | | sim_generate_data.slx
| | | sim_qpOases_condensed.slx
| | | sim_qpOases_uncondensed.slx
| | | sim_quadprog_fixed_data.slx
| | | sim_quadprog_scheduled_data.slx
| | └───sim_quadprog_updated_data.slx
|
│ └───scripts
| | | generate_data.m
| | | plots.m
| | | qpOases_condensed.m
| | | qpOases_uncondensed.m
| | | quadprog_fixed_data.m
| | | quadprog_schedule_data.m
| | | quadprog_update_data.m
| | └───setup.m
A detailed documentation is given in the doc directory.