reachSetHorizon

reachable set computation for the closed-loop system for the whole prediction horizon

Contents

Syntax

[param,res] = reachSetHorizon(sys,R0,param,Opts)

Description

This function computes the reachable set for the closed loop system for the whole prediction horizon

Input Arguments

sys

object containing the dynamics of the closed-loop system (class: nonlinParamSys)

R0

initial set for reachablity analysis (class: zonotope)

param

a structure containing following options

.xc

reference trajectory (dimension: [nx,N+1])

.uc

reference trajectory control inputs (dimension: [nu,N])

.K

cell-array containing the computed feedback matrices for the tracking controller

.R

cell-array containing the time point reachable sets

.Rcont

cell-array containing the time interval reachable sets

.J

summed distance of the reference trajectory points from the terminal region

.L

value of the objective function (=cost) of the reference trajectory

.Jset

summed distance of the reachable sets from the terminal region

Opts

a structure containing following options

.nx

number of system states

.dT

time step. Prediction horizon: Opts.N * Opts.dT

.termReg

terminal region around the steady state xf (class: mptPolytope)

.fbContr

struct with name and parameter of the applied tracking controller

.ReachOptsTrack

reachability options for the CORA toolbox

Output Arguments

param

updated struct of control law parameters

res

flag that specifies if final reachable set is fully contained in the terminal region (0 or 1)

See Also

reachsetMPC


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