Matlab code for the Segway simulations utilizing fixed-time barrier functions in a multi-rate control framework proposed in the paper [1]. The function FTOCP solves the MPC problem for the high-level policy, while the function CBF provides the low-level policy. MPC runs at 1/dt_mpc HZ while CBF runs at 1/dt HZ.
Prerequisites:
- MPT toolbox (use install_MPT3.m and run the following commands in Matlab
tbxmanager update
clear classes
mpt_init
(see https://www.mpt3.org/Main/Installation for more details)
- Gurobi (see https://www.gurobi.com/documentation/9.1/quickstart_mac/matlab_setting_up_grb_for_.html)
- MOSEK (use command "addpath \mosek\8\toolbox<MATLAB VERSION> or see https://docs.mosek.com/9.2/toolbox/install-interface.html)
[1]: Garg, Kunal, et al. "Multi-rate control design under input constraints via fixed-time barrier functions." IEEE Control Systems Letters 6 (2021): 608-613. (available at https://kunalgarg.mit.edu/sites/default/files/documents/LCSS_21_multirate.pdf)