How to make MPC controller act before disturbance hits?

Hello!

I am working on designing an MPC controller with preview information to control an active suspension. However, I have noticed that no matter what I see to do, the controller never acts before I introduce the disturbance.

So for example, the disturbance is introduced at 2 sec but the controller would benefit from beginning to act before the 2 sec.

I have the reference state set to 0 before the disturbance so I understand that it wants to keep it at 0 but the weights I have set on the system penalize any rotation of the chassis. The rotation could be minimized if the controller acts before the disturbance but it always stays at the reference state.

Is there a way to fix this so that the controller ignores the reference state partially to help improve the performance by acting before 2 seconds?

Thank you!

Answer 1

[Emmanouil Tzorakoleftherakis]

Hi Nathan,

I am assuming you have seen this example here? If the controller acted earlier, would it not violate the rotation penalty you have added? It seems you may need to adjust those weights in the cost function.