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    RO47017 HW03 Description

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    Haia Al Sharif
    The document provides instructions for homework assignment 3 on vehicle dynamics and control. Students are asked to download and test an MPC template for path following, investigate tuning parameters, extend the model to a bicycle model with steering rate constraint, simulate and compare the models, and submit a report, code, and Simulink model.

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    RO47017 HW03 Description

    Uploaded by

    Haia Al Sharif
    24 views6 pages
    The document provides instructions for homework assignment 3 on vehicle dynamics and control. Students are asked to download and test an MPC template for path following, investigate tuning parameters, extend the model to a bicycle model with steering rate constraint, simulate and compare the models, and submit a report, code, and Simulink model.

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    The document provides instructions for homework assignment 3 on vehicle dynamics and control. Students are asked to download and test an MPC template for path following, investigate tuning parameters, extend the model to a bicycle model with steering rate constraint, simulate and compare the models, and submit a report, code, and Simulink model.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    24 views6 pages

    RO47017 HW03 Description

    Uploaded by

    Haia Al Sharif
    The document provides instructions for homework assignment 3 on vehicle dynamics and control. Students are asked to download and test an MPC template for path following, investigate tuning parameters, extend the model to a bicycle model with steering rate constraint, simulate and compare the models, and submit a report, code, and Simulink model.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 6

    RO47017 Vehicle Dynamics & Control

    Homework #3 – Due 07‐06‐2023

    1) To use the provided template, you need to conduct the following actions:

     download acadotoolkit‐current‐stable.zip from Brightspace in Software folder


     follow these instructions to be sure that the ACADO is connected to your Matlab and functional
    properly (the steps are copied from https://acado.github.io/matlab_overview.html):

    ACADO & Compiler installation

    Step 1 – Installing a compiler

    a) Install Visual Studio 2017 Community

    You can download it here:

    https://docs.microsoft.com/en‐gb/visualstudio/releasenotes/vs2017‐relnotes

    If you don’t have a Visual Studio Subscription, you can create one for free by clicking on “Create a
    new Microsoft account” on the login page.

    b) Check that you selected:

     Universal Windows Platform development


     Desktop development with C++

    Note: it will require a large free space of your disk.

    Step 2 – Configuring MATLAB

    a) Once a compiler is installed it needs to be linked to MATLAB. Open MATLAB and run in
    command window:

    mex ‐setup
    Note: Type this command and not copy‐paste!
    MATLAB returns:
    Please choose your compiler for building external interface (MEX) files:
    Would you like mex to locate installed compilers [y]/n?
    Type “y” and hit enter.

    Step 3 – ACADO configuration

    a) unzip the archive to the preferable folder. Note: a very long path of a folder can lead to some
    issues. A shorter path is preferable.

    b) Go to ACADO folder and run cd interfaces/matlab/

    You are now ready to compile the ACADO interface. This compilation will take 10‐15 minutes but needs
    to be done only once. Run the following command in your command window:

    make clean all;

    You will see:

    Making ACADO...
    and after a while when the compilation is finished:

    ACADO successfully compiled.

    Needed to compile XYZ file(s).

    c) If you need to restart Matlab, run this make file again to set all paths or run savepath in your
    console to save the current search path for future sessions.

    ACADO has now been compiled. As the text indicated every time you restart MATLAB you need to run
    “make” again to set all paths. When running “make” again no new files need to be compiled and the
    process will only take a few seconds. However, it is easier to save your paths for future Matlab session.
    Do so by running “savepath” in your command window (this step is optional).

    savepath;

    Step 4 ‐ Running ACADO demo example

    cd examples/ocp/getting_started/

    The file getting_started.m contains the ACADO syntax to setup and execute a simple Optimal Control
    Problem. Run “getting_started” in your terminal to test the execution:

    getting_started;

    You should see a report similar to the following one:

    1: KKT tolerance = 2.016e‐001 objective value = 6.4478e‐001


    2: KKT tolerance = 2.074e+000 objective value = 4.3516e‐001
    3: KKT tolerance = 1.484e‐001 objective value = ‐2.3787e+000
    4: KKT tolerance = 9.130e‐002 objective value = ‐2.3441e+000
    5: KKT tolerance = 1.035e‐001 objective value = ‐2.4338e+000
    6: KKT tolerance = 5.587e‐002 objective value = ‐2.5326e+000
    7: KKT tolerance = 2.741e‐002 objective value = ‐2.5766e+000
    8: KKT tolerance = 1.839e‐002 objective value = ‐2.5959e+000
    9: KKT tolerance = 1.543e‐002 objective value = ‐2.6105e+000
    10: KKT tolerance = 1.494e‐002 objective value = ‐2.6258e+000
    11: KKT tolerance = 5.624e‐003 objective value = ‐2.6404e+000
    12: KKT tolerance = 1.584e‐004 objective value = ‐2.6456e+000
    13: KKT tolerance = 1.214e‐008 objective value = ‐2.6456e+000
    convergence achieved.
    Assignment

    Download the template from Brightspace and check that it is working. For this, you need to run the
    file “HW03_template_run.m” to compile the solver. After this, you can open the Simulink file
    “HW03_template.slx” and run it.

    The implementation of template model describes the kinematic model representing by:
    l 
      tan 1  r tan  
    L 
    u  0
    u
      sin 
    lr
    x  u cos    
    y  u sin    

    2) Investigate the influence of weight tuning for lateral position and control input (default 5e‐3 and 1e‐
    1 correspondingly) achieving better performance or MPC fails. Also, check how realistic is the steering
    input from the controller (no chattering during the manoeuvre).
    Note: The actual manoeuvre starts after 5s, therefore, the steering input chattering between 0 to 5
    sec can be ignored.

    3) Extend the controller plant model by implementing a bicycle model instead of a kinematic model
    and add a constraint regarding steering rate.
    Hints:
     Extra states are needed
     The control input will be steering rate d_delta and you need extra state equation:
     dot(delta) == d_delta

    The linear bicycle model is described by:

    x  t   Ax  t   Bu  t  , x  t0   x0
    where A and B are matrices of appropriate dimensions describing LTI system of bicycle model with
    constant speed.

    4) Simulate both variants 2 and 3 and compare the tracking performance using RMS error for lateral
    error and control input.

    5) Comment on the behaviour of the controllers in terms of input demands and the tracking
    performance and in terms of practical application.

    6) Provide your self‐reflection regarding the learning elements and main challenges faced during the
    controller design.

    7) Prepare and upload via Brightspace the following files:


     a PDF report named “your family name_HW3” with the clear description of your answers (any
    assumption that you made, block diagrams, equations, figures, and results analysis);
     the software realization itself with a well‐commented initialization file (it should be possible
    to run the simulation and see the most important plots by simply executing a single script);
     Save your Simulink model in Matlab R2020b or below.

    Grading policy:

     “Early bird submission”, 3 days in advance before the actual deadline: Bonus points (20% of
    the final grade) will be provided.
     “Normal submission”, before the deadline: Regular assessment.
     “Delayed submission”, after the deadline: Reduction of the final grade by 20% for each day.

    The report should contain the following elements:


    ‐ Title page
    ‐ Contents
    ‐ Introduction
    ‐ 1 Default MPC path‐follower
    ‐ 2 Designed MPC path‐follower
    ‐ 3 Comparison
    ‐ 4 Self reflection
    ‐ Conclusions
    ‐ References
    ‐ Appendix (e.g. Simulink block diagrams, vehicle parameters, etc.)

    Note: deviation from the report structure may reflect on the grade.

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