checkConstraints

check if the input and state constraints are satisfied

Contents

Syntax

c = checkConstraints(R,K,u_ref,Opts)

Description

This function checks if the reachable set satisfies the state and input constraints. The function returns a vector that specifies how much each constraint is violate, where c < 0 means that all constraints are satisfied.

Input Arguments

R

cell-array storing the reachable set

K

feedback matrix for the control law u = u_ref + K(x-x_ref)

u_ref

reference input for the control law u = u_ref + K(x-x_ref)

Opts

structure containing the following options

.stateCon

structure containing the state constraints

.inputCon

structure containing the input constraints

.nx

number of states

.nu

number of inputs

Output Arguments

c

amount of violation for the inequality constraints (c <= 0: no violation)

See Also

optimizationBasedControl, conFun


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