optimalControlFmincon

Solve optimal control problem with FMINCON

Contents

Syntax

[u,x] = optimalControlFmincon(system,xf,x0,h,Q,R,steps, ...
u0,maxFunEvals,lenHorizon,Opts)

Description

This function solves an optimal control problem using a multiple shooting algorithm and FMINCON

Input Arguments

system

object containing the system dynamics (class:; nonlinearSys)

xf

desired final state at the end of the control process (dimension: [nx, 1])

x0

initial state (dimension: [nx, 1])

vert

vertices of the initial parallelotope. (dimension: [nu,2^nx])

h

length of one timestep of the corner trajectories during which the control input is constant

Q

weighting matrix for the final state of the optimal control problem (dimension: [nx,nx])

R

weighting matrix for the input term of the optimal control problem (dimension: [nu,nu])

steps

number of intermediate timesteps of the corner trajectories during one timestep of the center trajectory

u0

input value for computing the initial point for fmincon by integrating with Runge-Kutta (scalar value)

maxFunEvals

Maximum number of function evaluations for fmincon

lenHorizon

length of the optimization horizon in center trajectory time steps

Opts

structure containing user defined options for the algorithm

Output Arguments

u

optimal control input (dimension: [nu,steps*lenHorizon])

x

resulting state trajectories (dimension: [nx,steps*lenHorizon])

See Also

convexInterpolationControl, optimalControlFmincon

References


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