Constraint-Adversarial-MPC

Allerton 2022 submission. link

Adversarial attack for input-driven LQR on cost and constraints with CVXPY.

Prerequisites

python version: 3.9.12

package	version
numpy	1.20.1
pandas	1.2.3
matplotlib	3.4.3
seaborn	0.11.2
cvxpy	1.1.18
statannotations	0.4.4

Getting Started

• To run the code, execute: constraint_adv.ipynb

• Functions for plotting: plot_utilities.py

• Generate input-driven LQR controllers (both constrained and unconstrained): system_dynamics.py

• Dimension of action space, state space, and other parameters: parameters.yml

Contact

Po-han Li - pohanli@utexas.edu