Thanks! That's what I thought. However, in the example it says "You can use different ways to define the cost terms. For example, you might want to minimize time, fuel consumption, or parking speed", so I assumed there might be a straightforward approach to do so.
NMPC time minimization problem
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Almudena Buelta Méndez
on 6 Apr 2024
Commented: Almudena Buelta Méndez
on 18 Apr 2024
Hello,
I am using the "Truck and Trailer Automatic Parking Using Multistage Nonlinear MPC" example to get familiar with the MPC toolbox.
My question is, how should I define the cost function if I want to minimize the time, i.e., the duration of the maneuver?
Thank you
Accepted Answer
Akshat Dalal
on 18 Apr 2024
Hi Almudena,
In typical MPC formulations, the cost function is designed to penalize deviations from desired states and/or control efforts. Minimizing time, however, is not directly about penalizing these deviations but about achieving a goal in the shortest possible time. This requires a slightly different setup because the objective (time) does not naturally fit into the state or control input vectors.
However, you can define a surrogate objective that correlates with time in your cost function. For instance, you could optimize the 'speed' in your cost function as a higher average speed would lead to a shorter time. You could use combine multiple such variable's as an alternate way of minimizing the duration of the manoeuvre.
Hope this helps!
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