reachExactController
reachabilty analysis for the exact control law implementation
Contents
Syntax
Description
Computes the reachable sets at the end of one timestep of the center trajectory as well as all reachable sets during this timestep
Input Arguments
dynamic |
object containing the system dynamics (class:; nonlinParamSys) |
R0 |
extended initial zonotope, which contains the state as well as the auxiliary states (dimension: 2*nx,; class zonotope or polyZonotope) |
param |
parameter vector. Containts the optimal inputs for the vertices of the parallelotope, which are needed for the online implementation of the control law (dimension: [nu*(2^nx),1]) |
Opts |
structure containing user defined options for the algorithm |
Output Arguments
Rfinal |
final zonotope at the end of reachability analysis |
reachSet |
cell array containing the reachable sets of all intermediate time steps |
See Also
convexInterpolationControl, computeExactController
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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