constraintfunctionFmincon

constraints for the optimal control problems if solved with FMINCON

Contents

Syntax

[c,ceq] = constraintfunctionFmincon(y, nx, nu, N, dt, x0, dynamics)

Description

This function determines whether or not the constraints for the optimal control problems are satisfied, for the case that the optimal control problmes are solved with Matlab build-in function FMINCON

Input Arguments

y

parameter vector for the optimization problem (y = [x,u])

nx

number of system states x

nu

number of control inputs u

N

number of time steps for the optimal control problem

dt

time step size for the optimal control problem

x0

initial state at the beginning of the optimal control problem

dynamics

function handle pointing to the function that implements the system dynamics

Output Arguments

c

amount of constraint violation for greater than constraints

ceq

amount of constraint violation for equality constraints

See Also

convexInterpolationControl, optimalControlFmincon

References


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