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Model Predictive Controller

Aug 23rd, 2024
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Arduino 2.31 KB | Source Code | 0 0
  1. #include <ArduinoMPC.h>
  2.  
  3. // Define system parameters
  4. const int numInputs = 2; // Number of control inputs (e.g., torques for each joint)
  5. const int numOutputs = 2; // Number of system outputs (e.g., joint angles)
  6. const int horizon = 10; // Prediction horizon
  7.  
  8. // MPC object
  9. MPC mpc(numInputs, numOutputs, horizon);
  10.  
  11. // Define system model matrices (A, B, C, etc.)
  12. // These matrices need to be tailored to your specific robotic arm model
  13. float A[2] = {1.0, 0.0}; // State transition matrix (simplified)
  14. float B[2] = {0.1, 0.1}; // Control input matrix (simplified)
  15. float C[2] = {1.0, 1.0}; // Output matrix (simplified)
  16. float Q[2] = {1.0, 1.0}; // State cost matrix
  17. float R[2] = {0.1, 0.1}; // Control cost matrix
  18.  
  19. void setup() {
  20.   Serial.begin(115200);
  21.  
  22.   // Initialize MPC with model parameters
  23.   mpc.setModelMatrices(A, B, C);
  24.   mpc.setCostMatrices(Q, R);
  25.  
  26.   // Set constraints for joint movements (example constraints)
  27.   mpc.setInputConstraints(-10, 10); // Example input constraints for joint torques
  28. }
  29.  
  30. void loop() {
  31.   // Read current system state (e.g., joint angles)
  32.   float currentState[numOutputs] = {readJointAngle(0), readJointAngle(1)};
  33.  
  34.   // Define desired setpoint (target joint angles)
  35.   float setpoint[numOutputs] = {1.0, 1.0}; // Example setpoints in radians
  36.  
  37.   // Compute optimal control inputs
  38.   float optimalInputs[numInputs];
  39.   mpc.computeOptimalInputs(currentState, setpoint, optimalInputs);
  40.  
  41.   // Apply control inputs to actuators (e.g., motors controlling the joints)
  42.   applyControlInputs(optimalInputs);
  43.  
  44.   // Print the results
  45.   Serial.print("Optimal Inputs: ");
  46.   for (int i = 0; i < numInputs; i++) {
  47.     Serial.print(optimalInputs[i]);
  48.     Serial.print(" ");
  49.   }
  50.   Serial.println();
  51.  
  52.   delay(100); // Loop delay
  53. }
  54.  
  55. float readJointAngle(int joint) {
  56.   // Implement function to read joint angles from sensors
  57.   // For example, use an analog sensor or an encoder
  58.   return analogRead(joint); // Placeholder, replace with actual sensor reading
  59. }
  60.  
  61. void applyControlInputs(float* inputs) {
  62.   // Implement function to send control inputs to motors
  63.   // For example, use PWM to control motor torques
  64.   analogWrite(LED_BUILTIN, inputs[0]); // Example: use control input for joint 1
  65.   analogWrite(LED_BUILTIN + 1, inputs[1]); // Example: use control input for joint 2
  66. }
  67.  
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