Servo Motor QP-MPC

Quadratic Programming Constrained optimal control via Model Predictive Control with online QP solving

Motor Model

0.0010
0.010
0.10
0.10
1.0
0.050

MPC Settings

10
1
100
1.0
0.100

Constraints

12.0
3.0

Reference

1.0
1.0×
Position Tracking θ(t) [rad]
Ref QP-MPC LQR (unconstrained)
Control Input V(t) [V]
QP-MPC LQR Vmax
Motor Current i(t) [A]
QP-MPC LQR Imax
Motor Shaft Position
No constraints active
Position
0.000
rad
Velocity
0.000
rad/s
Current
0.000
A
Voltage
0.000
V
QP horizon10
Active bounds0
QP iterations0
QP time0.00 ms
Cost J0.000