Porting race car example to SIMULINK

FreyJo · April 26, 2021, 9:04am

Hi Yash,

Basically, you want to translate these lines of code into Simulink blocks.
As you can see there, y_ref is changed for all shooting nodes in each simulation step.

github.com

acados/acados/blob/master/examples/acados_matlab_octave/race_cars/main.m#L241-L250


      
          for j = 0:(N-1)
              yref = [s0 + (sref - s0) * j / N, 0, 0, 0, 0, 0, 0, 0];
              % yref=[1,0,0,1,0,0,0,0]
              ocp.set('cost_y_ref', yref, j);   
          end
          yref_N = [sref, 0, 0, 0, 0, 0];
          % yref_N=np.array([0,0,0,0,0,0])    
          ocp.set('cost_y_ref_e', yref_N);
          
          % solve ocp

Note that in that .m file, there is no closed loop simulation. The initial state should be obtained from an integrator instead of the ocp solver for that.

Also note that the Simulink examples have been improved a bit last week:

The block y_ref contains the y_{\mathrm{ref}} values for the shooting nodes 1 to N-1 concatenated. To set this up correctly, the x_init part in the updated advanced Simulink example is a good reference.

Cheers,
Jonathan