Model Predictive Control with Python GEKKO

Показать описание

Model Predictive Control uses a mathematical description of a process to project the effect of Manipulated Variables (MVs) into the future and optimize a desired outcome. This example problem shows how to implement a simplified MPC for velocity regulation (cruise control) of a vehicle. An MV, accelerator pedal, is adjusted every 0.5 seconds over a time horizon of 20 seconds. The objective is to maintain the velocity of the vehicle at 40 meters per second with a reference trajectory to avoid excessive acceleration.

Рекомендации по теме

Комментарии

Hi! Thanks for the video. Your content on MPC has been my guidance to understand this kind of control. I was wondering, this is an example for an open-loop MPC, right? Do you have any example for close-loop? I mean, changing the size of the horizon, applying the first step of control on a simulation of the system, and recompute the trajectory for the next step til the final of the simulation. Thanks!

jomurciap

Dear Mr John,

I want to use this function according your tutorial but it didn't work :

point = [40, 20, 10, 35]
traject= [1, 30, 60, 100]

for i in range (len(point)):
# Controlled Variable
v = m.CV(value=0)
v.STATUS = 1 # add the SP to the objective
v.TAU = 5 # time constant of trajectory
m.options.CV_TYPE = 2 # squared error
m.options.IMODE = 6 # control

v.SP = point[i] # set point
v.TR_INIT = traject[i] # set point trajectory

# Process model
m.Equation(mass*v.dt() == -v*b + K*b*p)
m.solve(disp=False)

but found :
vp.__dict__[o] = data[vp.name][o]
KeyError: 'v2'

how to solve it ?

Thank you

liminm

How is the Weight (Wt) determined? Can we set it ourselves?

alexrunako

Hello, can I add a vector to track a trajectory in the obj function instead of a point ? where the size of the vector is Nx1 where N is the prediction horizon

ahmedtamer

Hi, can I ask again how is the Time Horizon, Control Horizon, and Prediction Horizon determined by using m.time?

alexrunako

Thank you for the explanation, what if the system model is discrete how can I declare it?

talebbouhamdan

How can I use a trained model (let's say Keras saved model) as the process model?

patrickduhirwenzivugira

is it possible to have a custom loss function? instead of l1 or l2?

BADERAK

Can I change the equation which is like 'y = a + bu'?

유재진-sf

Hi, , Can we use 2 manipulated variables?

ibtehajk

Incredible tutorial! Could I ask, is there a tutorial for real-time MPC?

tpsetati

Model Predictive Control with Python GEKKO

Model Predictive Control from Scratch: Derivation and Python Implementation-Optimal Control Tutorial

Model Predictive Control in Python

Model Predictive Control

Understanding Model Predictive Control (MPC) for Beginners (Python Implementation)

Model Predictive Control with Python GEKKO

A Model Predictive Control Design Tool with Python - Full code explanation

Nonlinear Model Predictive Control in Python

Single robot trajectory tracking via model predictive control (MPC) in presence of static obstacles

PID vs. Other Control Methods: What's the Best Choice

Model Predictive Control with Binary Variables

Pendulum Model Predictive Control with MATLAB and Python

Model Predictive Control in MATLAB and Python

Learning-based Model Predictive Control for Autonomous Racing

Unitree A1 walking using model predictive control (MPC) in PyBullet

Introduction to Model Predictive Control

All you need to know about model predictive control for buildings

Model Predictive Control | Reinforcement Learning (INF8953DE) | Lecture - 10 | Part - 1

Model Predictive Control | C++ Python Extension | ACADO Toolkit

Model Predictive Control

Microgrid Frequency Stabilization Using Model Predictive Controller

Q learning based traffic lights control python project

MPC for Motion Control of Autonomous Vehicles

FUZZY LOGIC BASED TRAFFIC LIGHT CONTROL PYTHON ARTIFICIAL INTELLIGENCE

Process Dynamics and Control Course with Python