v1.9.1

ModelPredictiveControl v1.9.1

Diff since v1.9.0

• added: piecewise linear manipulated inputs $\mathbf{u}$ with TrapezoidalCollocation(1)
• changed: f̂ now internally handle the operating points
• debug: linearize! on NonLinModel with non-zero operating points now works
• doc: describing the internal of the various prediction and transcription methods

Merged pull requests:

• debug: linearize! on NonLinModel with non-zero operating points now works (#239) (@franckgaga)
• doc: describing the internal of the various prediction and transcription methods (#240) (@franckgaga)
• changed: f̂ now internally handle the operating points (#241) (@franckgaga)
• doc: changing the notation of transcription internals (#242) (@franckgaga)
• added: piecewise linear manipulated inputs with TrapezoidalCollocation(1) (#243) (@franckgaga)

v1.9.0

ModelPredictiveControl v1.9.0

Diff since v1.8.2

• added: TrapezoidalCollocation method for continuous-time nonlinear systems
• added: dependabot.yml file to help with the CI dependencies
• changed: new fields with the continuous state-space function model.f! and model.h! in NonLinModels (instead of model.solver_f! and model.solver_h!)
• test: new test with TrapezoidalCollocation and Ipopt
• bench: new case studies with TrapezoidalCollocation on the pendulum

Merged pull requests:

• bench: increasing samples to reduce SD when needed (#228) (@franckgaga)
• added: dependabot.yml file to help with CI dependencies (#230) (@franckgaga)
• build(deps): bump julia-actions/setup-julia from 1 to 2 (#231) (@dependabot[bot])
• build(deps): bump actions/checkout from 2 to 5 (#232) (@dependabot[bot])
• changed: keep f! and h! functions available (#233) (@franckgaga)
• added: simple TrapezoidalCollocation() transcription method (#234) (@franckgaga)
• doc: clarifying model augmentation for NonLinMPC in f̂! docstring (#235) (@franckgaga)
• added: show TranscriptionMethod when printing PredictiveController (#236) (@franckgaga)
• added: unit tests and benchmarks for TrapezoidalCollocation (#237) (@franckgaga)

Closed issues:

• Trapezoidal collocation transcription (#164)

v1.8.2

ModelPredictiveControl v1.8.2

Diff since v1.8.1

• added: new benchmark suite that runs automatically on each PR with AirspeedVelocity.jl

Merged pull requests:

• test: increase Ts of NonLinMPC test to avoid out-of-time status (#217) (@franckgaga)
• added: benchmarking workflow with github actions (#218) (@franckgaga)
• bench: added allocation benchmarks on CI (#219) (@franckgaga)
• doc: minor correction (#220) (@franckgaga)
• bench: trying AirspeedVelocity.jl (#221) (@franckgaga)
• bench: adding some PredictiveController benchmarks (#222) (@franckgaga)
• CompatHelper: bump compat for SparseConnectivityTracer to 1, (keep existing compat) (#223) (@github-actions[bot])
• bench: add OSQP and Random as dependencies (#224) (@franckgaga)
• bench: minor modification (#225) (@franckgaga)
• debug: MovingHorizonEstimator no longer crash with error termination flag (#226) (@franckgaga)
• bump (#227) (@franckgaga)

v1.8.1

ModelPredictiveControl v1.8.1

Diff since v1.8.0

• added: new KalmanCovariance parametric struct to handle covariance sparsity efficiently
• added: dispatch on repeatdiag to preserve Diagonnals
• added: in-place and allocation-free inv! for MHE covariance matrices
• changed: store P̃Δu, P̃u and Tu conversion matrices as SparseMatrixCSC
• debug: support Hermitian weights in PredictiveController
• debug: use dummy b vector in MHE setmodel! to avoid ±Inf values
• test: verify setmodel! with He>1 for MHE
• test: new integration with ManualEstimator and MPCs
• doc: various improvements

Merged pull requests:

• new ManualEstimator tests and minor doc corrections (#210) (@franckgaga)
• doc : minor clarifications (#211) (@franckgaga)
• Changed: store conversion matrices as SparseMatrixCSC (#212) (@franckgaga)
• added: inv! for MovingHorizonEstimator covariance matrices (#214) (@franckgaga)
• debug: support Hermitian weights in PredictiveController (#215) (@franckgaga)
• added: new KalmanCovariance struct to handle covariance sparsity efficiently (#216) (@franckgaga)

v1.8.0

ModelPredictiveControl v1.8.0

Diff since v1.7.0

• added: move blocking feature in LinMPC, ExplicitMPC and NonLinMPC (see Hc argument)

Merged pull requests:

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

Closed issues:

• Implement manipulated input blocking (#177)

v1.7.0

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

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

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

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 P̂ 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

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)