settings_optBasedContr_platoon
algorithm settings for the platoon benchmark
Contents
Syntax
Opts = settings_optBasedContr_platoon()
Description
Algorithm settings and parameter for the optimization based control algorithm for the platoon benchmark
Output Arguments
Opts
|
a structure containing following options
.N
|
number of time steps
[{5} / positive integer]
|
.reachSteps
|
number of reachability steps during one
time step (optimization)
[{10} / positive integer]
|
.reachStepsFin
|
number of reachability steps during one
time step (final reachable set computation)
[{100} / positive integer]
|
.maxIter
|
maximum number of iterations for
optimization with fmincon
[{15} / positive integer]
|
.bound
|
scaling factor between upper and lower
bound of the weigthing matrices
[{1000} / positive scalar]
|
.refTraj.Q
|
state weighting matrix for the cost function of
optimal control problem (dimension:[nx,nx])
|
.refTraj.R
|
input weighting matrix for the cost function of
optimal control problem (dimension:[nu,nu])
|
.refTraj.x
|
user provided reference trajectory
(dimension: [nx,Opts.N + 1])
|
-.refTraj.u inputs for the user provided reference
trajectory (dimension: [nu,Opts.N])
.cora.alg
|
reachability algorithm (nonlinear)
[{'lin'} / 'poly']
|
.cora.linAlg
|
reachability algorithm (linear)
[{'standard'} / 'fromStart' /;
'wrapping-free' / 'adap']
|
.cora.tensorOrder
|
taylor order for the abstraction of
the nonlinear function
[{2} / 3]
|
.cora.taylorTerms
|
taylor order for computing e^At
[{10} / positive integer]
|
.cora.zonotopeOrder
|
upper bound for the zonotope order
[{50} / positive integer]
|
.cora.errorOrder
|
upper bound for the zonotope order
before comp. the abstraction error
[{5} / positive integer]
|
.cora.intermediateOrder
|
upper bound for the zonotope order
during internal computations
[{30} / positive integer]
|
.cora.error
|
uppper-bound for Hausdorff distance
(for cora.linAlg = 'adap' only)
|
|
See Also
optimizationBasedControl, platoon
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