Time varying state bounds in model predictive control

Dear Community,

I am trying to implement time varying state constraints in my nmpc model. The documentation says it is possible, but i am trying to find an example to understand it more better for implementation.

To breif more on the problem :

1. I want to vary my state bounds over the prediction horizon from time k+1 to k+p with p the prediction horizon.

Thanks in advance.

[rubindan]

From Matlab's documentation on nlmpcmoveopt ,on StateMin and StateMax:

To use the same bounds across the prediction horizon, specify a row vector.

To vary the bounds over the prediction horizon from time k+1 to time k+p, specify an array with up to p rows. Here, k is the current time and p is the prediction horizon. Each row contains the bounds for one prediction horizon step. If you specify fewer than p rows, the final bounds are used for the remaining steps of the prediction horizon.

[DRAGON]

Hi, i am meeting a similar problem with you. I have a time-varing parameter when using nlmpc, but i don not know how to set it.Do you know how to solve it? Thank you.

[MUNI VENKATA SAI KUMAR KONDURU]

Hey dragon, i wrote custom inequality constraint funciton just like how you define your custom cost function. and it works.

"function cineq = myIneqConFunction(X,U,e,data)"

and i varied over the prediction horizon all my state bounds as well as the references i require.

Hope this helps.

[Giulio Borrello]

Hi, I have the same problem, i'm tryng to use time-varying output constraint at run time using the classical (linear) MPC block in simulink. Has anyone managed to solve this problem? Thank you

[Sai Kumar]

hey giulio, try to create a an inequality constraint or try using mpc designer app since you are dealing with linear MPC. They provide an option to have run time constraints.

Answer 1

[Sai Kumar]

Tired out but not getting the desired results.

Since i am using simulink to run my controller, its making it more difficult.