Soft constraints in Acados

[zang_da]

Hi,

I want to use soft constraints in Acados. I think I understand how to set them. However, what I am missing is how to set the multiplier/penalty term in the objective function for the slack variables. In the acados paper there are mentioned alpha and beta as multiplier but I can not find them in the Python API. How do I set these multipliers?

Do the soft constraints also work with the external cost function?

Thanks,
David

[FenglongSong]

@zang_da

I want to use soft constraints in Acados. I think I understand how to set them. However, what I am missing is how to set the multiplier/penalty term in the objective function for the slack variables. In the acados paper there are mentioned alpha and beta as multiplier but I can not find them in the Python API. How do I set these multipliers?

Hi,

You can take a look at the Zu, Zl, zu, zl, Zu_e, Zl_e, zu_e, zl_e terms in the documentation of python interface. The corresponding math formulation is well explained here:
acados/problem_formulation_ocp_mex.pdf at master · acados/acados (github.com).

@zang_da

Do the soft constraints also work with the external cost function?

From my experience, yes.

Best,
Fenglong

[zang_da]

Hey Fenglong,

thank you very much for the quick answer. I was looking for such a document long ago!

Thanks,
David