Commit 637a206e authored by elokdae's avatar elokdae
Browse files

Commit to use lab laptop

parent 5919af45
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...@@ -357,6 +357,9 @@ bool s_solveDeepc = false; ...@@ -357,6 +357,9 @@ bool s_solveDeepc = false;
string d_logFolder = s_logFolder; string d_logFolder = s_logFolder;
bool d_Deepc_measure_roll_pitch = true; bool d_Deepc_measure_roll_pitch = true;
bool d_Deepc_yaw_control = true; bool d_Deepc_yaw_control = true;
int d_Tini;
int d_N;
float d_lambda2_g;
int d_Nuini; int d_Nuini;
int d_Nyini; int d_Nyini;
int d_Ng; int d_Ng;
...@@ -364,6 +367,13 @@ MatrixXf d_U_f; ...@@ -364,6 +367,13 @@ MatrixXf d_U_f;
MatrixXf d_Y_f; MatrixXf d_Y_f;
MatrixXf d_Q; MatrixXf d_Q;
MatrixXf d_P; MatrixXf d_P;
MatrixXf d_r;
MatrixXf d_r_gs;
MatrixXf d_A_gs;
MatrixXf d_b_gs;
MatrixXf d_gs;
MatrixXf d_grb_cg_r;
MatrixXf d_grb_cg_gs;
MatrixXf d_g; MatrixXf d_g;
MatrixXf d_uini; MatrixXf d_uini;
MatrixXf d_yini; MatrixXf d_yini;
...@@ -376,6 +386,8 @@ GRBModel d_grb_model = GRBModel(d_grb_env); ...@@ -376,6 +386,8 @@ GRBModel d_grb_model = GRBModel(d_grb_env);
GRBVar* d_grb_vars = 0; GRBVar* d_grb_vars = 0;
GRBQuadExpr d_grb_quad_obj = 0; GRBQuadExpr d_grb_quad_obj = 0;
GRBLinExpr d_grb_lin_obj_us = 0; GRBLinExpr d_grb_lin_obj_us = 0;
GRBLinExpr d_grb_lin_obj_r = 0;
GRBLinExpr d_grb_lin_obj_gs = 0;
GRBConstr* d_grb_eq_constrs = 0; GRBConstr* d_grb_eq_constrs = 0;
// Deepc related global variables used by main thread only // Deepc related global variables used by main thread only
......
...@@ -24,7 +24,6 @@ landing_spin_motors_time: 0 ...@@ -24,7 +24,6 @@ landing_spin_motors_time: 0
mass : 29 mass : 29
# Frequency of the controller, in hertz # Frequency of the controller, in hertz
#control_frequency : 200
control_frequency : 25.0 control_frequency : 25.0
# Quadratic motor regression equation (a0, a1, a2) # Quadratic motor regression equation (a0, a1, a2)
...@@ -45,10 +44,6 @@ shouldPublishDebugMessage : false ...@@ -45,10 +44,6 @@ shouldPublishDebugMessage : false
shouldDisplayDebugInfo : false shouldDisplayDebugInfo : false
# The LQR Controller parameters for rate mode # The LQR Controller parameters for rate mode
#gainMatrixThrust_NineStateVector : [ 0.00, 0.00, 0.98, 0.00, 0.00, 0.25, 0.00, 0.00, 0.00]
#gainMatrixRollRate : [ 0.00,-6.20, 0.00, 0.00,-3.00, 0.00, 5.20, 0.00, 0.00]
#gainMatrixPitchRate : [ 6.20, 0.00, 0.00, 3.00, 0.00, 0.00, 0.00, 5.20, 0.00]
#gainMatrixYawRate : [ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.30]
gainMatrixThrust_NineStateVector : [ 0.00, 0.00, 0.45, 0.00, 0.00, 0.17, 0.00, 0.00, 0.00] gainMatrixThrust_NineStateVector : [ 0.00, 0.00, 0.45, 0.00, 0.00, 0.17, 0.00, 0.00, 0.00]
gainMatrixRollRate : [ 0.00,-2.79, 0.00, 0.00, -1.83, 0.00, 5.91, 0.00, 0.00] gainMatrixRollRate : [ 0.00,-2.79, 0.00, 0.00, -1.83, 0.00, 5.91, 0.00, 0.00]
gainMatrixPitchRate : [ 2.79, 0.00, 0.00, 1.83, 0.00, 0.00, 0.00, 5.91, 0.00] gainMatrixPitchRate : [ 2.79, 0.00, 0.00, 1.83, 0.00, 0.00, 0.00, 5.91, 0.00]
...@@ -71,10 +66,10 @@ logFolder : log/ ...@@ -71,10 +66,10 @@ logFolder : log/
thrustExcAmp : 10.0 thrustExcAmp : 10.0
# Roll rate excitation magnitude, in deg/s # Roll rate excitation magnitude, in deg/s
rollRateExcAmp : 10.0 rollRateExcAmp : 60.0
# Pitch rate excitation magnitude, in deg/s # Pitch rate excitation magnitude, in deg/s
pitchRateExcAmp : 10.0 pitchRateExcAmp : 60.0
# Yaw rate excitation magnitude, in deg/s # Yaw rate excitation magnitude, in deg/s
yawRateExcAmp : 60.0 yawRateExcAmp : 60.0
...@@ -91,22 +86,22 @@ Deepc_measure_roll_pitch : false ...@@ -91,22 +86,22 @@ Deepc_measure_roll_pitch : false
Deepc_yaw_control : false Deepc_yaw_control : false
# Tini in discrete time steps # Tini in discrete time steps
Tini : 3 Tini : 6
# Prediction horizon in discrete time steps # Prediction horizon in discrete time steps
N : 20 N : 15
# Output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw) # Output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
Q : [40.0, 40.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0] Q : [40.0, 40.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
# Input cost matrix diagonal entries (thrust, rollRate, pitchRate, yawRate) # Input cost matrix diagonal entries (thrust, rollRate, pitchRate, yawRate)
R : [16.0, 4.0, 4.0, 1.0] R : [4.0, 4.0, 4.0, 1.0]
# Terminal output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw) # Terminal output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
P : [657.21, 657.21, 8.88, 96.92, 96.92, 0.47, 629.60, 629.60, 84.21] P : [657.21, 657.21, 8.88, 96.92, 96.92, 0.47, 629.60, 629.60, 84.21]
# Regularization parameters # Regularization parameters
lambda2_g : 10.0 lambda2_g : 0.0
lambda2_s : 100000000.0 lambda2_s : 100000000.0
# Output constraints (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw) # Output constraints (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
......
...@@ -135,6 +135,9 @@ void change_Deepc_params() ...@@ -135,6 +135,9 @@ void change_Deepc_params()
d_logFolder = s_logFolder; d_logFolder = s_logFolder;
d_Deepc_measure_roll_pitch = s_Deepc_measure_roll_pitch; d_Deepc_measure_roll_pitch = s_Deepc_measure_roll_pitch;
d_Deepc_yaw_control = s_Deepc_yaw_control; d_Deepc_yaw_control = s_Deepc_yaw_control;
d_Tini = s_yaml_Tini;
d_N = s_yaml_N;
d_lambda2_g = s_yaml_lambda2_g;
bool grb_LogToFile = s_yaml_grb_LogToFile; bool grb_LogToFile = s_yaml_grb_LogToFile;
bool grb_LogToConsole = s_yaml_grb_LogToConsole; bool grb_LogToConsole = s_yaml_grb_LogToConsole;
// Deepc setup must be re-run after changes // Deepc setup must be re-run after changes
...@@ -178,7 +181,6 @@ void change_Deepc_setpoint() ...@@ -178,7 +181,6 @@ void change_Deepc_setpoint()
s_Deepc_mutex.lock(); s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 193"); // ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 193");
bool setupDeepc_success = s_setupDeepc_success; bool setupDeepc_success = s_setupDeepc_success;
int N = s_yaml_N;
MatrixXf setpoint = s_setpoint; MatrixXf setpoint = s_setpoint;
int num_outputs = s_num_outputs; int num_outputs = s_num_outputs;
s_Deepc_mutex.unlock(); s_Deepc_mutex.unlock();
...@@ -190,27 +192,36 @@ void change_Deepc_setpoint() ...@@ -190,27 +192,36 @@ void change_Deepc_setpoint()
try try
{ {
// UPDATE GUROBI LINEAR COST VECTOR FOR REFERENCE TRACKING // UPDATE GUROBI LINEAR COST VECTOR FOR REFERENCE TRACKING
MatrixXf r = MatrixXf::Zero(num_outputs, 1); d_r.topRows(3) = setpoint.topRows(3);
r.topRows(3) = setpoint.topRows(3);
if (d_Deepc_yaw_control) if (d_Deepc_yaw_control)
r.bottomRows(1) = setpoint.bottomRows(1); d_r.bottomRows(1) = setpoint.bottomRows(1);
MatrixXf grb_cg_r = MatrixXf::Zero(d_Ng, 1); for (int i = 0; i < d_N + 1; i++)
for (int i = 0; i < N + 1; i++)
{ {
if (i < N) if (i < d_N)
grb_cg_r -= 2.0 * d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_Q * r; d_grb_cg_r -= 2.0 * d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_Q * d_r;
else else
grb_cg_r -= 2.0 * d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_P * r; d_grb_cg_r -= 2.0 * d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_P * d_r;
} }
// Update linear objective term for reference tracking // UPDATE GUROBI LINEAR COST VECTOR FOR STEADY STATE TRAJECTORY MAPPER
GRBLinExpr grb_lin_obj_r = 0; d_r_gs = d_r.replicate(d_Tini + d_N + 1, 1);
d_b_gs.bottomRows(d_r_gs.rows()) = d_r_gs;
d_gs = d_A_gs.bdcSvd(ComputeThinU | ComputeThinV).solve(d_b_gs);
d_grb_cg_gs = -2.0 * d_lambda2_g * MatrixXf::Identity(d_Ng, d_Ng) * d_gs;
// Update linear objective terms
d_grb_lin_obj_r = 0;
d_grb_lin_obj_gs = 0;
for (int i = 0; i < d_Ng; i++) for (int i = 0; i < d_Ng; i++)
grb_lin_obj_r += grb_cg_r(i) * d_grb_vars[i]; {
d_grb_lin_obj_r += d_grb_cg_r(i) * d_grb_vars[i];
d_grb_lin_obj_gs += d_grb_cg_gs(i) * d_grb_vars[i];
}
// Update objective // Update objective
d_grb_model.setObjective(d_grb_quad_obj + d_grb_lin_obj_us + grb_lin_obj_r); d_grb_model.setObjective(d_grb_quad_obj + d_grb_lin_obj_us + d_grb_lin_obj_r + d_grb_lin_obj_gs);
// Inform the user // Inform the user
ROS_INFO("[DEEPC CONTROLLER] Deepc setpoint update successful"); ROS_INFO("[DEEPC CONTROLLER] Deepc setpoint update successful");
...@@ -257,12 +268,9 @@ void setup_Deepc() ...@@ -257,12 +268,9 @@ void setup_Deepc()
s_Deepc_mutex.lock(); s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 277"); // ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 277");
string dataFolder = s_dataFolder; string dataFolder = s_dataFolder;
int Tini = s_yaml_Tini;
int N = s_yaml_N;
vector<float> Q_vec = s_yaml_Q; vector<float> Q_vec = s_yaml_Q;
vector<float> R_vec = s_yaml_R; vector<float> R_vec = s_yaml_R;
vector<float> P_vec = s_yaml_P; vector<float> P_vec = s_yaml_P;
float lambda2_g = s_yaml_lambda2_g;
float lambda2_s = s_yaml_lambda2_s; float lambda2_s = s_yaml_lambda2_s;
float cf_weight_in_newtons = s_cf_weight_in_newtons; float cf_weight_in_newtons = s_cf_weight_in_newtons;
MatrixXf setpoint = s_setpoint; MatrixXf setpoint = s_setpoint;
...@@ -325,14 +333,14 @@ void setup_Deepc() ...@@ -325,14 +333,14 @@ void setup_Deepc()
// HANKEL MATRICES // HANKEL MATRICES
int num_inputs = u_data.rows(); int num_inputs = u_data.rows();
int num_outputs = y_data.rows(); int num_outputs = y_data.rows();
d_Nuini = num_inputs * Tini; d_Nuini = num_inputs * d_Tini;
d_Nyini = num_outputs * Tini; d_Nyini = num_outputs * d_Tini;
MatrixXf H_u = data2hankel(u_data, Tini + N + 1); MatrixXf H_u = data2hankel(u_data, d_Tini + d_N + 1);
MatrixXf H_y = data2hankel(y_data, Tini + N + 1); MatrixXf H_y = data2hankel(y_data, d_Tini + d_N + 1);
MatrixXf U_p = H_u.topRows(num_inputs * Tini); MatrixXf U_p = H_u.topRows(num_inputs * d_Tini);
d_U_f = H_u.middleRows(num_inputs * Tini, num_inputs * N); d_U_f = H_u.middleRows(num_inputs * d_Tini, num_inputs * d_N);
MatrixXf Y_p = H_y.topRows(num_outputs * Tini); MatrixXf Y_p = H_y.topRows(num_outputs * d_Tini);
d_Y_f = H_y.bottomRows(num_outputs * (N + 1)); d_Y_f = H_y.bottomRows(num_outputs * (d_N + 1));
// COST MATRICES // COST MATRICES
// Output cost and terminal output cost matrix // Output cost and terminal output cost matrix
...@@ -362,9 +370,9 @@ void setup_Deepc() ...@@ -362,9 +370,9 @@ void setup_Deepc()
// GUROBI QUADRATIC COST MATRIX // GUROBI QUADRATIC COST MATRIX
d_Ng = U_p.cols(); d_Ng = U_p.cols();
int Ns = num_outputs * Tini; int Ns = num_outputs * d_Tini;
MatrixXf Qg = lambda2_g * MatrixXf::Identity(d_Ng, d_Ng); MatrixXf Qg = d_lambda2_g * MatrixXf::Identity(d_Ng, d_Ng);
for (int i = 0; i < N; i++) for (int i = 0; i < d_N; i++)
{ {
Qg += d_U_f.middleRows(i * num_inputs, num_inputs).transpose() * R * d_U_f.middleRows(i * num_inputs, num_inputs); Qg += d_U_f.middleRows(i * num_inputs, num_inputs).transpose() * R * d_U_f.middleRows(i * num_inputs, num_inputs);
Qg += d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_Q * d_Y_f.middleRows(i * num_outputs, num_outputs); Qg += d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_Q * d_Y_f.middleRows(i * num_outputs, num_outputs);
...@@ -376,26 +384,42 @@ void setup_Deepc() ...@@ -376,26 +384,42 @@ void setup_Deepc()
grb_Q.bottomRightCorner(Ns, Ns) = Qs; grb_Q.bottomRightCorner(Ns, Ns) = Qs;
// GUROBI LINEAR COST VECTOR // GUROBI LINEAR COST VECTOR
MatrixXf r = MatrixXf::Zero(num_outputs, 1); // Steady state input
r.topRows(3) = setpoint.topRows(3);
if (d_Deepc_yaw_control)
r.bottomRows(1) = setpoint.bottomRows(1);
MatrixXf us = MatrixXf::Zero(num_inputs, 1); MatrixXf us = MatrixXf::Zero(num_inputs, 1);
us(0) = cf_weight_in_newtons; us(0) = cf_weight_in_newtons;
// Reference
d_r = MatrixXf::Zero(num_outputs, 1);
d_r.topRows(3) = setpoint.topRows(3);
if (d_Deepc_yaw_control)
d_r.bottomRows(1) = setpoint.bottomRows(1);
// Steady state trajectory mapper
MatrixXf u_gs = us.replicate(d_Tini + d_N, 1);
d_r_gs = d_r.replicate(d_Tini + d_N + 1, 1);
d_A_gs = MatrixXf::Zero(U_p.rows() + d_U_f.rows() + Y_p.rows() + d_Y_f.rows(), d_Ng);
d_b_gs = MatrixXf::Zero(d_A_gs.rows(), 1);
d_A_gs.topRows(U_p.rows()) = U_p;
d_A_gs.middleRows(U_p.rows(), d_U_f.rows()) = d_U_f;
d_A_gs.middleRows(U_p.rows() + d_U_f.rows(), Y_p.rows()) = Y_p;
d_A_gs.bottomRows(d_Y_f.rows()) = d_Y_f;
d_b_gs.topRows(u_gs.rows()) = u_gs;
d_b_gs.bottomRows(d_r_gs.rows()) = d_r_gs;
d_gs = d_A_gs.bdcSvd(ComputeThinU | ComputeThinV).solve(d_b_gs);
MatrixXf grb_cg_us = MatrixXf::Zero(d_Ng, 1); MatrixXf grb_cg_us = MatrixXf::Zero(d_Ng, 1);
MatrixXf grb_cg_r = MatrixXf::Zero(d_Ng, 1); d_grb_cg_r = MatrixXf::Zero(d_Ng, 1);
for (int i = 0; i < N + 1; i++) for (int i = 0; i < d_N + 1; i++)
{ {
if (i < N) if (i < d_N)
{ {
grb_cg_us -= 2.0 * d_U_f.middleRows(i * num_inputs, num_inputs).transpose() * R * us; grb_cg_us -= 2.0 * d_U_f.middleRows(i * num_inputs, num_inputs).transpose() * R * us;
grb_cg_r -= 2.0 * d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_Q * r; d_grb_cg_r -= 2.0 * d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_Q * d_r;
} }
else else
grb_cg_r -= 2.0 * d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_P * r; d_grb_cg_r -= 2.0 * d_Y_f.middleRows(i * num_outputs, num_outputs).transpose() * d_P * d_r;
} }
d_grb_cg_gs = -2.0 * d_lambda2_g * MatrixXf::Identity(d_Ng, d_Ng) * d_gs;
//INPUT CONSTRAINTS //INPUT CONSTRAINTS
MatrixXf input_min = MatrixXf::Zero(num_inputs, 1); MatrixXf input_min = MatrixXf::Zero(num_inputs, 1);
...@@ -435,9 +459,9 @@ void setup_Deepc() ...@@ -435,9 +459,9 @@ void setup_Deepc()
// GUROBI LINEAR INEQUALITY CONSTRAINT VECTOR // GUROBI LINEAR INEQUALITY CONSTRAINT VECTOR
MatrixXf grb_b = MatrixXf::Zero(grb_Ag.rows(), 1); MatrixXf grb_b = MatrixXf::Zero(grb_Ag.rows(), 1);
for (int i = 0; i < N + 1; i++) for (int i = 0; i < d_N + 1; i++)
{ {
if (i < N) if (i < d_N)
{ {
grb_b.middleRows(i * num_inputs, num_inputs) = -input_min; grb_b.middleRows(i * num_inputs, num_inputs) = -input_min;
grb_b.middleRows(d_U_f.rows() + i * num_inputs, num_inputs) = input_max; grb_b.middleRows(d_U_f.rows() + i * num_inputs, num_inputs) = input_max;
...@@ -457,8 +481,8 @@ void setup_Deepc() ...@@ -457,8 +481,8 @@ void setup_Deepc()
grb_A_eq.bottomRightCorner(Ns, Ns) = -MatrixXf::Identity(Ns, Ns); grb_A_eq.bottomRightCorner(Ns, Ns) = -MatrixXf::Identity(Ns, Ns);
// GUROBI LINEAR EQUALITY CONSTRAINT VECTOR // GUROBI LINEAR EQUALITY CONSTRAINT VECTOR
d_uini = MatrixXf::Zero(num_inputs * Tini, 1); d_uini = MatrixXf::Zero(num_inputs * d_Tini, 1);
d_yini = MatrixXf::Zero(num_outputs * Tini, 1); d_yini = MatrixXf::Zero(num_outputs * d_Tini, 1);
MatrixXf grb_b_eq = MatrixXf::Zero(grb_A_eq.rows(), 1); MatrixXf grb_b_eq = MatrixXf::Zero(grb_A_eq.rows(), 1);
grb_b_eq.topRows(d_uini.rows()) = d_uini; grb_b_eq.topRows(d_uini.rows()) = d_uini;
grb_b_eq.bottomRows(d_yini.rows()) = d_yini; grb_b_eq.bottomRows(d_yini.rows()) = d_yini;
...@@ -497,15 +521,17 @@ void setup_Deepc() ...@@ -497,15 +521,17 @@ void setup_Deepc()
// Set linear objective term // Set linear objective term
d_grb_lin_obj_us = 0; d_grb_lin_obj_us = 0;
GRBLinExpr grb_lin_obj_r = 0; d_grb_lin_obj_r = 0;
d_grb_lin_obj_gs = 0;
for (int i = 0; i < d_Ng; i++) for (int i = 0; i < d_Ng; i++)
{ {
d_grb_lin_obj_us += grb_cg_us(i) * d_grb_vars[i]; d_grb_lin_obj_us += grb_cg_us(i) * d_grb_vars[i];
grb_lin_obj_r += grb_cg_r(i) * d_grb_vars[i]; d_grb_lin_obj_r += d_grb_cg_r(i) * d_grb_vars[i];
d_grb_lin_obj_gs = d_grb_cg_gs(i) * d_grb_vars[i];
} }
// Set objective // Set objective
d_grb_model.setObjective(d_grb_quad_obj + d_grb_lin_obj_us + grb_lin_obj_r); d_grb_model.setObjective(d_grb_quad_obj + d_grb_lin_obj_us + d_grb_lin_obj_r + d_grb_lin_obj_gs);
// Clear constraints if previously created // Clear constraints if previously created
int num_constrs = d_grb_model.get(GRB_IntAttr_NumConstrs); int num_constrs = d_grb_model.get(GRB_IntAttr_NumConstrs);
......
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