settings_safetyNetContr_car
algorithm settings for the car benchmark
Contents
Syntax
Opts = settings_safetyNetContr_car()
Description
Algorithm settings and parameter for the Safety Net Control Algorithm for the car benchmark (maneuver: turn right)
Output Arguments
Opts
|
a structure containing following options
.N
|
number of time-steps
[{10} / positive integer]
|
.Ninter
|
number of intermediate time steps
[{4} / positive integer]
|
.Q
|
state weighting matrix for the cost function
(reference trajectory)
|
.R
|
input weighting matrix for the cost function
(reference trajectory)
|
.reachSteps
|
number of reachability steps in one time step
[{10} / positive integer]
|
.order
|
maximum zonotope order of backward reach. sets
[{3} / positive integer]
|
.iter
|
number of iterations for optimization
[{1} / positive integer]
|
.fracInpCent
|
maximum portion of the input set that is used
for the reference trajectory
[{0.5} / scalar between 0 and 1]
|
.controller
|
comfort controller applied during online exec.
[{'LQR'} or 'MPC']
|
.contrOpts
|
struct with confort controller settings
|
|
See Also
safetyNetControl, car
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