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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