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Releases: JuliaControl/ModelPredictiveControl.jl

v1.8.0

29 May 18:42
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ModelPredictiveControl v1.8.0

Diff since v1.7.0

Merged pull requests:

  • added: move blocking feature in LinMPC, ExplicitMPC and NonLinMPC (#201) (@franckgaga)

Closed issues:

  • Implement manipulated input blocking (#177)

v1.7.0

25 May 21:01
03cb818
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ModelPredictiveControl v1.7.0

Diff since v1.6.2

  • added: ManualEstimator to turn off built-in state estimation and provide your own estimate

Merged pull requests:

  • added: ManualEstimator to turn off built-in state estimation (#206) (@franckgaga)
  • changed: moved lastu0 inside PredictiveController objects (#208) (@franckgaga)
  • Added tests and improve doc for ManualEstimator (#209) (@franckgaga)

Closed issues:

  • Create a CustomEstimator to ease interfacing with Low-level particle filter package (#142)
  • Support nonlinear estimator with linear model predictive control (#205)

v1.6.2

22 May 21:40
79b35cb
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ModelPredictiveControl v1.6.2

Diff since v1.6.1

Merged pull requests:

  • CompatHelper: bump compat for DifferentiationInterface to 0.7, (keep existing compat) (#203) (@github-actions[bot])
  • changed: compat of DAQP to 0.6, 0.7.1 (#204) (@franckgaga)
  • debug: force update of gradient/jacobian in MovingHorzionEstimator when window not filled (#207) (@franckgaga)

v1.6.1

12 May 21:10
c564f06
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ModelPredictiveControl v1.6.1

Diff since v1.6.0

  • added: improve NonLinMPC performances with specialized conversion and weight matrices
  • changed: M_Hp, N_Hc and L_Hp keyword arguments now default to Diagonal instead of diagm matrices for all PredictiveController constructors

Merged pull requests:

  • Cherry pick doc and general improvements commits from hessian_objective (#200) (@franckgaga)
  • added: be more efficient with weights and conversion matrices for NonLinMPC (#202) (@franckgaga)

Closed issues:

  • Support exact Hessian of objective function J in NonLinMPC and MovingHorizonEstimator (#193)
  • Use one function in linearization (#199)

v1.6.0

28 Apr 19:49
9e80002
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ModelPredictiveControl v1.6.0

Diff since v1.5.3

  • added: general performance boost of NonLinMPC and MovingHorizonEstimator using value_and_gradient!/jacobian! of DifferentiationInterface.jl instead of individual calls (similar to DiffResults.jl goal) 🚀🚀🚀
  • added: setstate! now allows manual modifications of the estimation error covariance $\mathbf{\hat{P}}$ (if computed by the estimator)

Merged pull requests:

  • added: setstate! now allows estimation covariance modification (if applicable) (#192) (@franckgaga)
  • doc: minor corrections (#196) (@franckgaga)
  • Added: NonLinMPC and MovingHorizonEstimator now use value_and_gradient!/jacobian! of DI.jl (#197) (@franckgaga)

Closed issues:

  • Precompilation is failing (#195)

v1.5.3

19 Apr 19:40
4511057
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ModelPredictiveControl v1.5.3

Diff since v1.5.2

Merged pull requests:

  • Test: added allocations tests for types that are known to be allocation-free (SKIP THEM FOR NOW) (#187) (@franckgaga)
  • test: fix CI badge (#188) (@franckgaga)
  • debug: remove .data in KalmanFilter matrix products (#189) (@franckgaga)
  • test: adapt tests for the new automatically balancing minreal function (#191) (@franckgaga)

v1.5.2

08 Apr 14:31
a8b8c9b
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ModelPredictiveControl v1.5.2

Diff since v1.5.1

Merged pull requests:

Closed issues:

  • Linearize is failing when using AutoFiniteDiff() (#185)

v1.5.1

29 Mar 21:27
3705821
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ModelPredictiveControl v1.5.1

Diff since v1.5.0

  • removed: DiffCaches in RungeKutta solver
  • debug: no more noisy @warn about DiffCache chunk size
  • changed: compat for ForwardDiff to 0.10, 1
  • test: added compat entries for the test-only dependencies in [extras] section

Merged pull requests:

  • CompatHelper: bump compat for ForwardDiff to 1, (keep existing compat) (#182) (@github-actions[bot])
  • Changed: RungeKutta no longer uses DiffCache (#183) (@franckgaga)

v1.5.0

20 Mar 22:16
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ModelPredictiveControl v1.5.0

Diff since v1.4.4

  • added: migration to DifferentiationInterface.jl
  • added: new gradient and jacobian keyword arguments for NonLinMPC
  • added: new gradient and jacobian keyword arguments for MovingHorizonEstimator
  • added: new jacobian keyword argument for NonLinModel (for linearization)
  • added: new jacobian keyword argument for ExtendedKalmanFilter
  • added: ExtendedKalmanFilter is now allocation-free at runtime
  • test: many new test with AutoFiniteDiff backend

Merged pull requests:

  • added: NonLinMPC and MovingHorizonEstimator integration with DI.jl (#174) (@franckgaga)
  • added: linearize! now uses DifferentiationInterface.jl (#179) (@franckgaga)
  • Added: ExtendedKalmanFilter now uses DifferentiationInterface.jl + now allocation-free (#180) (@franckgaga)

Closed issues:

  • Use DifferentiationInterface.jl (#162)

v1.4.4

17 Mar 01:21
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ModelPredictiveControl v1.4.4

Diff since v1.4.3

Merged pull requests:

  • Debug: ineq. constraint for NonLinModel and MultipleShooting (#178) (@franckgaga)