/QP-Solver

QP Solver and use example for `An Adaptive Sliding Mode Control Algorithm for Flexibly Supported Stewart Mechanism`

Primary LanguageMATLAB

Code Info

This folder code contains source code of the QP Solver which uses the interior point method to solve a QCQP (Quadratic Constrains Quadratic Programing) problem.

The Simulation version is MATLAB R2022A, we also provide the lower version of MATLAB R2015A.

Inside this folder, the code and its meaning is following:

  1. Alpha.m: get term alpha and index

  2. kkt.m: calculate the kkt condition

  3. MyQP.m: the QP Solver applied to solve problem

  4. test_init.m: the initialize code (provide data) of simulation test_opt_solver_2022

  5. test_plot.m: plot the solve result

  6. test_opt_solver_2022.slx: the test simulation file

  7. opt_solver_2022.slx: the simulink file used to generate library, used in our work, DO NOT NEED TO USE

  8. scope_PID_data.mat: the real data get from experiments, used to validate QP Solver

  9. test_opt.m: the code used to invoke test_opt_solver_2022.slx and simulate data, THE ONL FILE NEED TO USE FOR TEST

    1. Note that there may be warning about TwinCAT.tlc, which is the tlc file need to generate library in our project, can be ignored

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If need to test file, you just need to invoke test_opt.m, and if the version is too high, you can choose to use the lower version MATLAB R2015A inside folder simulink_r2015a, and replace the call inside test_opt.m