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GeezerVison is showing github.com — Add B-splines and solve_flat_ocp to flatsys by murrayrm · Pull Request #763 · python-control/python-control

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@murrayrm

@murrayrm murrayrm commented Aug 24, 2022

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This PR extends the flatsys module to include two new elements:

  • flatsys.BSplineFamily adds B-splines as a new type of basis for solving trajectory generation problems (within flatsys or optimal).

  • flatsys.solve_flat_ocp() allows solution of optimal control problems for differentially flat systems with trajectory and terminal costs and constraints, mirroring the functionality of optimal.solve_ocp().

In the process of making these additions, a few other changes:

  • The flatsys.BSplineFamily introduces the ability to have multi-variable basis functions (where each flat output uses a different basis function from a selected family). This is useful if you have a differentially flat system in which you would like to have different degrees for different variables.
  • Fixed a bug in the computation of derivatives for the Bezier family of basis functions with rescaled final time, and implemented a final time rescaling for the polynomial family of basis functions.
  • Added a more descriptive __repr__ for basis functions (show the family + information on attributes).
  • New documentation (sphinx + docstring) and units tests for the added functionality.

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murrayrm added 6 commits August 20, 2022 10:11
@murrayrm
initial bspline implementation
3dcad07
@murrayrm
add support for multiple spline variables; update docstrings
0ab0d07
@murrayrm
initial implementation of solve_flat_ocp
78f7bbb
@murrayrm
unit tests, bug fixes, algorithm improvements
05084f3 
* add initial_guess functionality to solve_flat_ocp
* pre-compute collocation matrices in point_to_point, solve_flat_ocp
* updated return values for solve_flat_ocp
* add __repr__ for flat basis functions
* docstring improvements
* additional unit tests + examples
@murrayrm
additional unit tests for coverage + bug fixes
e65c4f2
@murrayrm
updated flatsys documentation
2901cbe
@coveralls

coveralls commented Aug 24, 2022 •
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Coverage Status

Coverage increased (+0.03%) to 94.766% when pulling 47262f5 on murrayrm:bspline-04Aug2022 into d4c1f14 on python-control:main.
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@murrayrm
update coeff handling to allow multi-variable basis
47262f5
@murrayrm

murrayrm commented Aug 30, 2022

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Merging this in since the functionality is pretty specialized and so not something that is going to break anything for others (plus I have additional updates coming that build on this one).
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@murrayrm
murrayrm merged commit 58b1bc5 into python-control:main Aug 30, 2022
@bnavigator

bnavigator commented Aug 30, 2022

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Hi @murrayrm, I started to look through it a few days ago but wasn't done completely. I might have a few review comments later on, if that is okay.
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@murrayrm

murrayrm commented Aug 30, 2022

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Thanks for looking through this, @bnavigator. Comments are definitely welcome and I'm happy to address in a separate PR.

I'm working in putting some numba capability into python-control to allow for more efficient optimization, and this PR was in support of that. The changes are very specialized, so won't affect 99% of users (and perhaps 99.9% of users -:).
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@murrayrm murrayrm added this to the 0.9.3 milestone Dec 24, 2022
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@murrayrm @coveralls @bnavigator
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