As a part of my research, I am considering a scenario where some of the control inputs are blocked-predetermined (implemented as constraints) whereas other control inputs are to be determined. These control inputs depend on one another. Consider the following:
I am trying to find optimal control inputs (U) for multiple (controllable) vehicles amongst other (uncontrollable) vehicles using MPC. To ensure collision avoidance at each instant (distance between vehicles > 0):
at each instant, the system is informed about the control inputs (and thus the state variables) of uncontrolled vehicle/s corresponding to that istant. When I run this in CVX, CVX returns result as infeasible.
the system has information about the control inputs of uncontrolled vehicle/s for the entire simulation horizon (all instances). When I run this in CVX, CVX returns result as solved.
Can case 1 be solved using CVX ? The matlab code is rather long, so I choose to skip, but in case it is required, I can upload it as well.
In real life online-application, a system will take fresh inputs at each instant (case 1 above) to solve MPC and provide control input. Is it also possible to get control inputs generated by CVX at each instant, rather than obtaining control inputs (of all instances in the time horizon) at once at the end of the optimization?
Any help or inputs would be greatly appreciated