reachLinearController

reachabilty analysis for the linear approximation of the exact control law

Contents

Syntax

[Rfinal,reachSet] = reachLinearController(dynamic,R0,cu,Gu,inputAssign,Opts)

Description

Computes the reachable set at the end of one timestep of the center trajectory as well as all reachable sets during this timestep.

Input Arguments

dynamic

object containing the system dynamics (class:; nonlinearSys)

R0

extended initial zonozope, which contains the state as well as the auxiliary states (dimension: 2*nx)

cu

cell array containing the center vectors of the input zonotopes for each intermediate timestep (dimension cell array: Opts.Ninter,; diemnsion entries: [nu,1])

Gu

cell array containing the generator matrices of the input zonotopes for each intermediate timestep (dimension cell array: Opts.Ninter,; diemnsion entries: [nu,nx])

inputAssign

Matrix that encode the information which generator of the first input zonotope belongs to which generator of the initial state zonotope R0 (dimension: [nx,zonotope order of R0])

Opts

structure containing user defined options for the algorithm

Output Arguments

Rfinal

final zonotope at the end of reachability analysis

reachSet

cell array containing the reachable sets of all intermediate time steps

See Also

convexInterpolationControl, computeLinearController

References


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