Time varying reference

FreyJo · August 12, 2020, 10:07am

Hi Chris,

welcome to the forum!

You can set the y_ref value stage wise after creating the solver, as it is done here:

acados/acados/blob/1736ea73acfb71f34a067d77c9f0e565be6cf3a5/examples/acados_matlab_octave/test/test_ocp_pendulum_on_cart.m#L269


% change number of sqp iterations
ocp.set('nlp_solver_max_iter', 20);

% modify numerical data for a certain stage
some_stages = 1:10:N-1;
for i = some_stages
    if (strcmp(cost_type, 'linear_ls'))
        ocp.set('cost_Vx', Vx, i); % cost_y_ref, cost_Vu, cost_Vx, cost_W, cost_Z, cost_Zl,...
         % cost_Zu, cost_z, cost_zl, cost_zu;
        ocp.set('cost_Vu', Vu, i);
        ocp.set('cost_y_ref', yr, i);
    end
    if ng > 0
        ocp.set('constr_C', C, i);
        ocp.set('constr_D', D, i);
        ocp.set('constr_ug', ubu, i);
        ocp.set('constr_lg', lbu, i);
    end
end

% solve

Cheers,
Jonathan