Class for simulating the controller in a distributed plant - sensor - controller - actuator setting with simulated network connection.

Inheritance diagram for yane::NetworkedControl::MPCController:

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Collaboration diagram for yane::NetworkedControl::MPCController:

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List of all members.

Public Member Functions
void	calc (int seq)
	Function to execute the computation of a control sequence.
void	implementControl (int seq)
	Function to execute the implementation of a computed control sequence on the process connected via the simulated network connection.
void	initialize ()
	Function to initialize the controller.
yane::Model::Model *	model ()
	Function to return the used class yane::Model::Model object.
int	mpcCallCounter ()
	Function to return the number of execute MPC calculations.
std::vector< std::vector < double > >	mpcCallStates ()
	Function to return the state vectore used as initial values for each MPC computation executed.
std::vector< double >	mpcCallTimes ()
	Function to return the time instances upon which an MPC computation was executed.
	MPCController (yane::Model::Model model_controller, yane::MPC::ModelShootingData shootingdata, int horizon, int prediction, yane::MinProg::NLP minimizer, yane::MPC::OdeManager odemanager, IOInterfaceLocal iface, yane::Utils::DebugMaster debugmaster=0, yane::Utils::StatisticsMaster *statisticsmaster=0, yane::NetworkedControl::T_DISTANCEFUNC distancefunction=0, double statedistanceTolerance=0.0)
	Constructor.
void	setMaximalOpenLoopIterations (int maximalOpenLoopIterations)
	Function to set the maximal number of allowed open loop iterations.
void	setMaxIter (int seqmax)
	Function to set the maximal number of MPC iterations to be computed.
void	setSaveMPCCallData (bool saveMPCCallData)
	Function to set the decision variable to save the computed MPC data.
virtual void	start ()
	Function to start the controller.
	~MPCController ()
	Destructor.
Protected Member Functions
void	actuatorInputToController (yane::Utils::DebugMaster debugmaster, yane::Utils::DebugClient debugclient, yane::Utils::StatisticsMaster *statisticsmaster)
	Function to handle actuator input data and provide it to be used by the MPC controller.
void	computePrediction (double state, int from_seq, int to_seq, double timesteps)
	Function to predict the state vector using the internally buffered control sequences.
void	controllerOutputToActuator (int seq, yane::Utils::DebugMaster debugmaster, yane::Utils::DebugClient debugclient, yane::Utils::StatisticsMaster *statisticsmaster)
	Function to handle the output data of the MPC controller and provide it to be used by the actuator.
void	initializeModelHandler ()
	Funtion to initialize the implementation connected components of the networked MPC controller scheme.
void	initializeMPCController ()
	Function to initialize the computing connected components of the networked MPC controller scheme.
void	initializeMPCControllerInput ()
	Function to initialize the input connected components of the networked MPC controller scheme.
void	initializeMPCControllerOutput ()
	Function to initialize the output connected components of the networked MPC controller scheme.
void	predictInternalState (double *state, int from_seq, int to_seq)
	Function to compute/predict the state vector to the sampling instant used by the MPC controller.
void	predictSensorValues (double *peekedx, int to_seq)
	Function to compute/predict the state vector to the next sampling instant.
void	sensorInputToController (int seq, yane::Utils::DebugMaster debugmaster, yane::Utils::DebugClient debugclient, yane::Utils::StatisticsMaster *statisticsmaster)
	Function to handle sensor input data and provide it to be used by the MPC controller.
void	setActuatorErrorVariables (int lastnonerrorcycle, int currentcycle)
	Function to set the actuator error variables $\sigma_{\mbox{err}}, \sigma_{\mbox{cor}}$ .
void	setControllerOutputPacket (int preseq, int seq, int horizon, double *u)
	Function to set the output packet of the MPC controller.
void	setNewState (double t, double *state)
	Function to set the internal state vector of the MPC controller.
Protected Attributes
yane::NetworkedControl::T_ACTORPACKET	_actuatorpacket
	Controller packet.
yane::NetworkedControl::ControlClipboard *	_cb
	Pointer of the used control clipboard of class yane::NetworkedControl::ControlClipboard.
yane::NetworkedControl::T_OUTPUTPACKET	_controllerpacket
	Sensor input packet.
double *	_controllerpacket_data
	Pointer of the output packet to be sent from the controller to the actuator.
int	_controllerpacket_horizon
	Length of the control sequence to be sent.
yane::Utils::DebugClient *	_debugclient
	Pointer of the debug client of class yane::Utils::DebugClient.
yane::Utils::DebugMaster *	_debugmaster
	Pointer of the class yane::Utils::DebugMaster object used for debugging.
yane::NetworkedControl::T_DISTANCEFUNC	_distancefunction
	Acutator packet.
bool	_error_received
	Distance function.
bool	_has_actorpacket
	Decision variable whether an actuator packet has been received.
int	_horizon
	Length of the control sequence to be computed.
double *	_inputx
	Pointer of the internal state vector.
bool	_inputxchanged
	Decision variable whether the internal state vector has been updated.
double	_inputxtime
	Time of the last sensor measurement.
yane::NetworkedControl::IOInterfaceLocal *	_interface
	Pointer of the used network interface of class yane::NetworkedControl::IOInterfaceLocal.
int	_last_sensor_seq
	Sampling instant following the time of the latest sensor measurement.
int	_last_seq
	Sampling instant of the latest MPC calculation.
int	_maximalOpenLoopIterations
	Maximal number of allowed open loop iterations.
yane::MinProg::NLP *	_minimizer
	Pointer of the used minimizer of class yane::MinProgl::NLP.
yane::Model::Model *	_model
	Pointer of the class yane::Model::Model object used for optimization and simulation.
yane::MPC::MPC *	_mpc
	Pointer of the used controller of class yane::MPC::MPC.
std::vector< std::vector < double > >	_mpcCallStates
	Array of the initial state connected to the sampling times upon which the MPC routine was executed.
std::vector< double >	_mpcCallTimes
	Array of the sampling times upon which the MPC routine was executed.
yane::MPC::OdeManager *	_odemanager
	Pointer of the used odemanager of class yane::MPC::OdeManager.
int	_prediction
	Length of the prediction between current time and the first time instant the computed control shall be valid.
int	_preseq
	Value of $\sigma_{\mbox{pre}}$ , the sampling instant of the last correct control sequence upon which the sent control sequence was computed.
double	_samplingTime
	Sampling time.
bool	_saveMPCCallData
	Decision variable to save the computed MPC data.
yane::NetworkedControl::T_INPUTPACKET	_sensorpacket
	Pointer of the timer of class yane::Utils::RTClock.
double *	_sensorvalues
	Pointer of the sensor state vector.
int	_seqmax
	Maximal number of MPC iterations to be computed.
yane::MPC::ModelShootingData *	_shootingdata
	Pointer of the used shooting data of class yane::MPC::ModelShootingData.
int	_sigma_cor
	Value of $\sigma_{\mbox{cor}}$ , the sampling instant of the last correct control sequence.
int	_sigma_err
	Value of $\sigma_{\mbox{err}}$ , the sampling instant of the latest error within the scheme.
yane::Model::Simulator *	_simulator_controller
	Pointer of the used simulator of class yane::Model::Simulator.
bool	_skipMPC
	Decision variable whether an MPC step is skipped.
yane::Utils::StatisticsClientIntCounter *	_stat_actuator_received
	Statistics collector for received actuator sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_mpc_alreadycomputed
	Statistics collector for already computed control sequences.
yane::Utils::StatisticsClientAverage *	_stat_mpc_calcduration
	Statistics collector for average computing time.
yane::Utils::StatisticsClientIntCounter *	_stat_mpc_computedseq
	Statistics collector for computed control sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_mpc_invalidateseq
	Statistics collector for invalidated control sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_mpc_skipseq
	Statistics collector for skipped control sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_mpcoutput_sent
	Statistics collector for sent control sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_sensorinput_sent
	Statistics collector for received sensor input sequences.
double	_stateDistanceTolerance
	Maximal tolerance of the state deviation to skip the MPC control computation.
yane::Utils::StatisticsMaster *	_statisticsmaster
	Pointer of the class yane::Utils::StatisticsMaster object used for producing statistics.
double *	_t
	Pointer of the time grid.
double *	_trajectory
	Pointer of the state trajectory.
double *	_u
	Pointer of the control sequence.
double *	_x
	Pointer of the state vector.

Constructor & Destructor Documentation

yane::NetworkedControl::MPCController::MPCController	(	yane::Model::Model *	model_controller,
		yane::MPC::ModelShootingData *	shootingdata,
		int	horizon,
		int	prediction,
		yane::MinProg::NLP *	minimizer,
		yane::MPC::OdeManager *	odemanager,
		IOInterfaceLocal *	iface,
		yane::Utils::DebugMaster *	debugmaster = `0`,
		yane::Utils::StatisticsMaster *	statisticsmaster = `0`,
		yane::NetworkedControl::T_DISTANCEFUNC	distancefunction = `0`,
		double	statedistanceTolerance = `0.0`
	)

Constructor

Parameters:

model_controller	Pointer of the class yane::Model::Model object used for optimization
shootingdata	Pointer of the yane::Model::ModelShootingData object used for optimization
horizon	Length of the horizon
prediction	Number of preceding prediction steps
minimizer	Pointer of the minimization routine of class yane::MinProg::NLP
odemanager	Pointer of the differential equation manager of class yane::MPC::OdeManager
iface	Pointer of the input/output interface of class yane::MPC::IOInterface
debugmaster	Pointer of the debugmanager of class yane::Utils::DebugMaster
statisticsmaster	Pointer of the statistics manager of class yane::Utils::StatisticsMaster

Member Function Documentation

void yane::NetworkedControl::MPCController::actuatorInputToController	(	yane::Utils::DebugMaster *	debugmaster,
		yane::Utils::DebugClient *	debugclient,
		yane::Utils::StatisticsMaster *	statisticsmaster
	)		`[protected]`

Function to handle actuator input data and provide it to be used by the MPC controller

Parameters:

seq	Current samling instant
debugmaster	Pointer of the debug master of class yane::Utils::DebugMaster
debugclient	Pointer of the debug client of class yane::Utils::DebugClient
statisticsmaster	Pointer of the statistics master of class yane::Utils::StatisticsMaster

void yane::NetworkedControl::MPCController::calc ( int seq )

Function to execute the computation of a control sequence

Parameters:

seq	Number of the sampling instant for which the control sequence is computed

void yane::NetworkedControl::MPCController::computePrediction	(	double *	state,
		int	from_seq,
		int	to_seq,
		double *	timesteps
	)		`[protected]`

Function to predict the state vector using the internally buffered control sequences

Parameters:

state	State vector
from_seq	Initial sampling instant
to_seq	Terminal sampling instant
timesteps	Time grid

void yane::NetworkedControl::MPCController::controllerOutputToActuator	(	int	seq,
		yane::Utils::DebugMaster *	debugmaster,
		yane::Utils::DebugClient *	debugclient,
		yane::Utils::StatisticsMaster *	statisticsmaster
	)		`[protected]`

Function to handle the output data of the MPC controller and provide it to be used by the actuator

Parameters:

seq	Current samling instant
debugmaster	Pointer of the debug master of class yane::Utils::DebugMaster
debugclient	Pointer of the debug client of class yane::Utils::DebugClient
statisticsmaster	Pointer of the statistics master of class yane::Utils::StatisticsMaster

void yane::NetworkedControl::MPCController::implementControl ( int seq )

Function to execute the implementation of a computed control sequence on the process connected via the simulated network connection

Parameters:

seq	Number of the sampling instant for which the control sequence is to be applied

yane::Model::Model * yane::NetworkedControl::Controller::model ( ) [inherited]

Function to return the used class yane::Model::Model object

Returns:: Used class yane::Model::Model object

int yane::NetworkedControl::MPCController::mpcCallCounter ( )

Function to return the number of executed MPC calculations. This function requires _saveMPCCallData to be set to true.

std::vector< std::vector< double > > yane::NetworkedControl::MPCController::mpcCallStates ( )

Function to return the state vectore used as initial values for each MPC computation executed. This function requires _saveMPCCallData to be set to true.

std::vector< double > yane::NetworkedControl::MPCController::mpcCallTimes ( )

Function to return the time instances upon which an MPC computation was executed. This function requires _saveMPCCallData to be set to true.

void yane::NetworkedControl::MPCController::predictInternalState	(	double *	state,
		int	from_seq,
		int	to_seq
	)		`[protected]`

Function to compute/predict the state vector to the sampling instant used by the MPC controller

Parameters:

peededx	Computed initial value
to_seq	Sampling instant the initial value is computed for

void yane::NetworkedControl::MPCController::predictSensorValues	(	double *	peekedx,
		int	to_seq
	)		`[protected]`

Function to compute/predict the state vector measured by sensors to the next sampling instant

Parameters:

peededx	Computed initial value
to_seq	Sampling instant the initial value is computed for

void yane::NetworkedControl::MPCController::sensorInputToController	(	int	seq,
		yane::Utils::DebugMaster *	debugmaster,
		yane::Utils::DebugClient *	debugclient,
		yane::Utils::StatisticsMaster *	statisticsmaster
	)		`[protected]`

Function to handle sensor input data and provide it to be used by the MPC controller

Parameters:

seq	Current samling instant
debugmaster	Pointer of the debug master of class yane::Utils::DebugMaster
debugclient	Pointer of the debug client of class yane::Utils::DebugClient
statisticsmaster	Pointer of the statistics master of class yane::Utils::StatisticsMaster

void yane::NetworkedControl::MPCController::setActuatorErrorVariables	(	int	lastnonerrorcycle,
		int	currentcycle
	)		`[protected]`

Function to set the actuator error variables $\sigma_{\mbox{err}}, \sigma_{\mbox{cor}}$ upon receiving an actuator error

Parameters:

lastnoerrorcycle	Value of $\sigma_{\mbox{cor}}$
currentcycle	Value of $\sigma_{\mbox{err}}$

void yane::NetworkedControl::MPCController::setControllerOutputPacket	(	int	preseq,
		int	seq,
		int	horizon,
		double *	u
	)		`[protected]`

Function to set the output packet of the MPC controller

Parameters:

preseq	Value of $\sigma_{\mbox{pre}}$ , the sampling instant of the last correct control sequence upon which the sent control sequence was computed
seq	Value of $\sigma$ , the initial sampling instant for which the control was computed
u	Control sequence

void yane::NetworkedControl::MPCController::setMaximalOpenLoopIterations ( int maximalOpenLoopIterations )

Function to set the maximal number of allowed open loop iterations

Parameters:

maximalOpenLoopIterations Maximal number of allowed open loop iterations

void yane::NetworkedControl::MPCController::setMaxIter ( int seqmax )

Function to set the maximal number of MPC iterations to be computed

Parameters:

seqmax Maximal number of MPC iterations to be computed

void yane::NetworkedControl::MPCController::setNewState	(	double	t,
		double *	state
	)		`[protected]`

Function to set the internal state vector of the MPC controller

Parameters:

t	Time instant of the state vector to be set
state	State vector

void yane::NetworkedControl::MPCController::setSaveMPCCallData ( bool saveMPCCallData )

Function to set the decision variable to save the computed MPC data

Parameters:

saveMPCCallData Decision variable to save the computed MPC data

Member Data Documentation

bool yane::NetworkedControl::MPCController::_error_received [protected]

Decision variable whether an error has been received

yane::NetworkedControl::MPCController Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation