Simple QP implementation

User Questions
1

Hi all,

I have been using ACADOS for a while and have an SQP problem formulation which I have working on some embedded hardware via the (extremely useful) Simulink interfaces.

For a few reasons (which I wont go in to) I want to compare this model to a linearised version using a vanilla QP on the embedded hardware - and I would ideally like to do this using the ACADOS Simulink interfaces.

I already have an implementation of the QP using the HPIPM toolbox so I know this is all working.

My question is: Is it possible/simple to get ACADOS to do just the QP step using the equivalent of HPIPMs OCP problem formulation? My attempts so far have not been fruitful.

Thanks,
Will.

2

Hi,

acados does not have a Simulink interface for QP solvers.

I suggest to just phrase a QP as an OCP NLP and just use solve that with acados.
i.e. use linear discrete dynamics, quadratic cost and linear constraints.

Cheers,
Jonathan

3

Thanks for the reply.

I tried that and found that I do not converge to the same solution as the QP with the same formulation - probably what you would expect, although I was a bit surprised it doesn’t converge to the optimal solution given the linear nature of the problem.

I guess I will have to be content with what it gives me.

Cheers,
Will.