objSafetyNetContr

construct a controller object for the Safety Net Controller

Contents

Syntax

obj = objSafetyNetContr(dyn,Rfin,contrLaw,Param)
obj = objSafetyNetContr(dyn,Rfin,contrLaw,Param,occSet)

Description

Constructor of the controller object for the Safety Net Controller. The object stores the safe sets and input weights for the safety net controller. The controller object can be used to simulate the online-phase of the algorithm. Furthermore, a controller for the unverified controller is stored which can be simulated in combination with the safety net.

Input Arguments

dyn

function handle to the dynamic function of the open-loop system

Rfin

final reachable set

contrLaw

a structure containing the control law parameter

.comfContr

controller object for the comfort controller

.H

cell-array storing the input-to-generator correlation matrix for each time step

.reachSet

cell-array storing the time point reachable set

.Usub

cell-array storing the subsets of admissble control inputs for each time step

.N

number of time steps

.Ninter

number of intermediate time steps

Param

a structure containing the benchmark parameters

.R0

initial set of states (class: interval)

.xf

goal state

.tFinal

final time after which the goal state should be reached

.U

set of admissible control inputs (class:; interval)

.W

set of uncertain disturbances (class: interval)

occSet

cell-array storing the occupancy set

Output Arguments

obj

resulting object of class objSafetyNetContr

See Also

safetyNetControl


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