Is it possible to use this gekko MPC method online on a real robot?
I want to do some trajectory tracking on a real robot, and I want to use MPC, so I found this gekko. I can make to simulations of my robot and stuff, but is it possible to use it real-time, as I see it take some time to calculate the optimal solution, and I am not quite sure coding wise how to do it, if you just take the first imput and give it to the real system and then update the state values with the sensor reading, and then use the m.solve() function again, and so on.
Thanks in advance
Yes, Gekko is certainly possible to do real-time control but you'll need to pay attention to a few things:
- Cycle time: the application has to read the sensors, calculate the update to the model (estimation), optimize the future move plan (control), and implement the move plan within the specified cycle time. If you have a cycle time faster than 10 Hz, you may want to look at an LQR controller or other method that is faster.
- Model form: a nonlinear model will take longer to calculate or may not converge. A linear model is typically used in many industries because it is fast and reliable.
- Horizon length: you need a sufficiently long horizon length to anticipate future constraints that affect current moves
- Horizon resolution: the first step of the controller needs to be consistent with the cycle time. Future prediction steps can be of any step size.
- Local solve: if you are implementing the MPC on an embedded hardware like a Raspberry Pi, the local solve may be slower than a remote solve. You can use the remote solve to the public server (
remote=True), set up your own local server in Windows or Linux (remote=True server='http://10.0.0.10'), or else solve locally on the embedded hardware (remote=False). You set theremoteandserverwhen you create the gekko object (m=GEKKO(remote=False)).
There is a lot of real-time MPC code and an application with the Temperature Control Lab (TCLab) on the course for Machine Learning and Dynamic Optimization. Below is MPC in action.
Here is the device:
- Change value in Ini to empty using Python configparser
- Script works with error line but won't run corectly when bad line is removed
- FFMPEG not saving logs when converting to audio format
- Numerically obtaining response of a damped driven oscillator gives peak at wrong frequency
- What is the deal with the pony in Python community?
- 'Area' object is not callable
- ValueError: Attribute Users.request is required
- How to place class in its own file when it appears to be inheriting from an instance?
- Python 3.6 with pony 0.7 gives error on commit to oracle db
- Why pyqt tablewigdet is only displaying row number and no data?
- How to check if a value exists in a dictionary?
- OpenCV: draw a rectangle around a region
- Python, Tkinter, trying to pull random numbers from a list based off user input for number and have results open in mew window
- How to remove repeated elements in a vector, similar to 'set' in Python
- Understanding descriptor protocol for 'wrapper-descriptor' itself
- Passing a NumPy 3d array to a C function with a triple pointer as an argument
- How do I create variable variables?
- Turn a tf.data.Dataset to a jax.numpy iterator
- Django 5.1 + Postgresql (debian server)
- Passing in arguments to Dependency function makes it recognized as a Query Parameter
- How to pass parameters to an endpoint using `add_route()` in FastAPI?
- How to make Depends optional in FastAPI?
- Streaming multiple videos through FastAPI to Web Browser causes HTTP requests to stall
- FastAPI error when handling file together with form-data defined in a Pydantic model
- Use serial port in Python without installing external packages
- How can i get the output to print 10 circles instead of 9 in python turtle module
- Unable to install TA-Lib on Ubuntu
- Unable to install Python without sudo access
- Size of an open file object
- two if or more with one ELSE