I am new to acados and am trying out the interface. However, I am having trouble with a simple modification of the
acados_python/getting_started/minimal_example_closed_loop.py code. Essentially, I just want to change the
yref to direct the system to
x=3 but set the constraint on the position
x to be
[-2,2]. This causes the optimization to fail (with
status=2) on iteration 23.
This seems like a very simple modification to the simplest code, yet it is failing. I have tried changing the parameters and adding slack variables but nothing has worked consistently. Here is the minimum code change required to reproduce the error: Update minimal_example_closed_loop.py · Federico-PizarroBejarano/acados@4f6605a · GitHub
If I add slack variables it works, but any slight change in the weight matrices causes it to fail again: Update minimal_example_closed_loop.py · Federico-PizarroBejarano/acados@94eec9c · GitHub
I am unsure if I am doing everything correctly, but it seems extremely sensitive to weights and initializations despite being the most simple example. Let me know if I am doing something wrong, or if I need to robustify the parameters. Thank you very much!