Solve an OCP for parameters field "p" instead of input command "u"

MohsenMech · October 19, 2024, 1:27pm

hello every one , I am glad to join your forum , I am new with Acados and I want to implement Moving Horizon Estimation (MHE) method and my model has a form of 0 = f(x_dot, x, u , p) . I want to use MHE to not only do the state estimation but also parameter estimation , and I am using Python. My question is that how can I define constraints for parameters that I already define in “model.p” and then solve OCP to get not only estimated states but also estimated parameters ??

FreyJo · October 21, 2024, 7:27am

Hi,

did you check out this example?
It shows how you can do MHE with noisy parameters:

github.com

acados/acados/blob/master/examples/acados_python/pendulum_on_cart/mhe/minimal_example_mhe_with_noisy_param.py

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Best,
Jonathan