localCornerControl
Solve optimal control problem for the corner states of the parallelotope
Contents
Syntax
Description
This function solves an optimal control problem for all vertices of the initial parallelotope (see Lines 6-8 of Alg. 1 in [1]).
Input Arguments
system |
object containing the system dynamics (class:; nonlinearSys) |
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xf |
desired final state at the end of the control process (dimension: [nx, 1]) |
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vert |
vertices of the initial parallelotope. (dimension: [nu,2^nx]) |
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h |
length of one timestep of the multiple shooting algorithm |
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Q |
weighting matrix for the final state of the optimal control problem (dimension: [nx,nx]) |
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R |
weighting matrix for the input term of the optimal control problem (dimension: [nu,nu]) |
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steps |
number of intermediate timesteps of the corner trajectories during one timestep of the center trajectory |
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lenHorizon |
length of the optimization horizon in center trajectory time steps |
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Opts |
a structure containing following options
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Output Arguments
uTotal |
optimal control inputs for the corner trajectories (dimension: [nu,2^nx,steps*lenHorizon]) |
xt |
resulting corner trajectories (dimension: [nx,2^nx,steps*lenHorizon]) |
See Also
convexInterpolationControl, optimalControl, optimalControlFmincon
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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