资源简介
本资源是关于用MPC算法来搭建Carsim/Simulink模型进行仿真,其中包含重要的MPC算法的m文件,内有对相关重要代码有具体的说明,适合初学者。
代码片段和文件信息
function [sysx0strts] = MyMPC_v1(txuflag)
% 该函数是写的第3个S函数控制器(MATLAB版本:R2011a)
% 限定于车辆运动学模型,控制量为速度和前轮偏角,使用的QP为新版本的QP解法
% [sysx0strts] = MY_MPCController3(txuflag)
%
% is an S-function implementing the MPC controller intended for use
% with Simulink. The argument md which is the only user supplied
% argument contains the data structures needed by the controller. The
% input to the S-function block is a vector signal consisting of the
% measured outputs and the reference values for the controlled
% outputs. The output of the S-function block is a vector signal
% consisting of the control variables and the estimated state vector
% potentially including estimated disturbance states.
switch flag
case 0
[sysx0strts] = mdlInitializeSizes; % Initialization
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 47490 2020-05-02 15:17 LKA_MPC_v1.mdl
文件 7762 2020-05-08 20:06 MyMPC_v1.m
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