I am using acados to solve a decentralized NMPC problem with a flock of drones. More specifically, I am implementing tube MPC. In this formulation, one has to implement the following initial state constraint:

Since the minimum robust invariant set is quite complex for our system, when we write this constraint using acados in Matlab, we get this error:
“ocp_create: error setting constr_Jbx_0, matrix should be binary”

Is there a way to define Jbx_0 as a non-binary matrix in acados framework?

Hi!
The circled plus is the Minkowski sum and epsilon in the maximum invariant set.

Is there a way to define a more general kind of constraints using the acados framework ? (i.e setting the Jbx_0 matrix as a full matrix with positive and negative values)