Releases: JuliaControl/ModelPredictiveControl.jl
Releases · JuliaControl/ModelPredictiveControl.jl
v1.8.0
ModelPredictiveControl v1.8.0
- added: move blocking feature in
LinMPC
,ExplicitMPC
andNonLinMPC
(seeHc
argument)
Merged pull requests:
- added: move blocking feature in
LinMPC
,ExplicitMPC
andNonLinMPC
(#201) (@franckgaga)
Closed issues:
- Implement manipulated input blocking (#177)
v1.7.0
ModelPredictiveControl v1.7.0
- 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
insidePredictiveController
objects (#208) (@franckgaga) - Added tests and improve doc for
ManualEstimator
(#209) (@franckgaga)
Closed issues:
v1.6.2
ModelPredictiveControl v1.6.2
Merged pull requests:
- CompatHelper: bump compat for DifferentiationInterface to 0.7, (keep existing compat) (#203) (@github-actions[bot])
- changed: compat of
DAQP
to0.6, 0.7.1
(#204) (@franckgaga) - debug: force update of gradient/jacobian in
MovingHorzionEstimator
when window not filled (#207) (@franckgaga)
v1.6.1
ModelPredictiveControl v1.6.1
- added: improve
NonLinMPC
performances with specialized conversion and weight matrices - changed:
M_Hp
,N_Hc
andL_Hp
keyword arguments now default toDiagonal
instead ofdiagm
matrices for allPredictiveController
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:
v1.6.0
ModelPredictiveControl v1.6.0
- added: general performance boost of
NonLinMPC
andMovingHorizonEstimator
usingvalue_and_gradient!
/jacobian!
ofDifferentiationInterface.jl
instead of individual calls (similar toDiffResults.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 covarianceP̂
modification (if applicable) (#192) (@franckgaga) - doc: minor corrections (#196) (@franckgaga)
- Added:
NonLinMPC
andMovingHorizonEstimator
now usevalue_and_gradient!
/jacobian!
of DI.jl (#197) (@franckgaga)
Closed issues:
- Precompilation is failing (#195)
v1.5.3
ModelPredictiveControl v1.5.3
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
inKalmanFilter
matrix products (#189) (@franckgaga) - test: adapt tests for the new automatically balancing
minreal
function (#191) (@franckgaga)
v1.5.2
ModelPredictiveControl v1.5.2
Merged pull requests:
- debug: do not call
jacobian!
ifnd==0
inlinearize
(#186) (@franckgaga)
Closed issues:
- Linearize is failing when using AutoFiniteDiff() (#185)
v1.5.1
ModelPredictiveControl v1.5.1
- removed:
DiffCache
s inRungeKutta
solver - debug: no more noisy
@warn
aboutDiffCache
chunk size - changed:
compat
forForwardDiff
to0.10, 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 usesDiffCache
(#183) (@franckgaga)
v1.5.0
ModelPredictiveControl v1.5.0
- added: migration to
DifferentiationInterface.jl
- added: new
gradient
andjacobian
keyword arguments forNonLinMPC
- added: new
gradient
andjacobian
keyword arguments forMovingHorizonEstimator
- added: new
jacobian
keyword argument forNonLinModel
(for linearization) - added: new
jacobian
keyword argument forExtendedKalmanFilter
- added:
ExtendedKalmanFilter
is now allocation-free at runtime - test: many new test with
AutoFiniteDiff
backend
Merged pull requests:
- added:
NonLinMPC
andMovingHorizonEstimator
integration with DI.jl (#174) (@franckgaga) - added:
linearize!
now usesDifferentiationInterface.jl
(#179) (@franckgaga) - Added:
ExtendedKalmanFilter
now usesDifferentiationInterface.jl
+ now allocation-free (#180) (@franckgaga)
Closed issues:
- Use DifferentiationInterface.jl (#162)
v1.4.4
ModelPredictiveControl v1.4.4
Merged pull requests:
- Debug: ineq. constraint for
NonLinModel
andMultipleShooting
(#178) (@franckgaga)