Opened 16 months ago

#81 new user support

Check Feasibility

Reported by: Hristakiev Owned by: ferreau
Priority: normal Milestone:
Component: C++ core Version: 3.2.1
Keywords: Infeasibility, Fast MPC Cc:

Description

Hello,

I try to meet the real-time constraints of my problem by using the "cputime" input of the hotstart method. However by doing so in the most critical points of my problem I get an infeasible problem and the Error -">ERROR: Premature homotopy termination because QP is infeasible". Afterwards each next MPC step is also infeasible, despite the fact that the problem is obviously feasible after 50 steps. Is there any way to make the solver work again in spite of the infeasibility in the previous steps?

In [1] I have found some slides about the feasibility, which explain that one can deal the infeasibility through stopping in the last feasible step and waiting until the problem gets feasible again. Can I check the problem feasibility status for the current step prior it's solving with hotstart? How can I implement the srategy adressed in [1]?

Thank You in advance!!

[1] http://www.fs.isy.liu.se/en/Edu/Courses/NumericalOptimalControl/Slides/20110616LinkopingqpOASES.pdf

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