computeLinearController

implementation of the linear control law

Contents

Syntax

[zonoBig,reachSet,controlLawParam] = ...
computeLinearController(dynamic,zono,zonoR,uCorner,uCenter,Opts)

Description

This function implements the control law that uses a linear approximation of the convex combinations of the corner inputs. The reachable set is computed for one time step of the center trajectory, which consists of multiple steps of the corner trajectories. The function implements Alg. 2 in [1].

Input Arguments

dynamic

object containing the system dynamics (class:; nonlinearSys)

zono

initial zonotope (class zonotope or polyZonotope)

zonoR

parallelotope which is an overapproximation of the initial zonotope zono (class zonotope)

uCorner

optimal control inputs for the corner trajectories (dimension: [nu,nx^2,Opts.Ninter])

uCenter

optimal control inputs for the center trajectory (dimension: [nx, Opts.Nc])

Opts

structure containing user defined options for the algorithm

Output Arguments

zonoBig

extended zonotope that results from the reachability analysis. This zonotope still includes the auxiliary states

reachSet

cell array containing the reachable sets of all intermediate time steps

controlLawParam

parameters of the computed control law

See Also

convexInterpolationControl, computeExactController

References


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