reachExactController

reachabilty analysis for the exact control law implementation

Contents

Syntax

[Rfinal,reachSet] = reachExactController(dynamic,R0,param,Opts)

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


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