computeLinearController
implementation of the linear control law
Contents
Syntax
computeLinearController(dynamic,zono,zonoR,uCorner,uCenter,Opts)
Description
This function implements the control law that uses a linear approximation of the convex combinations of the corner inputs. The reachable set is computed for one time step of the center trajectory, which consists of multiple steps of the corner trajectories. The function implements Alg. 2 in [1].
Input Arguments
dynamic |
object containing the system dynamics (class:; nonlinearSys) |
zono |
initial zonotope (class zonotope or polyZonotope) |
zonoR |
parallelotope which is an overapproximation of the initial zonotope zono (class zonotope) |
uCorner |
optimal control inputs for the corner trajectories (dimension: [nu,nx^2,Opts.Ninter]) |
uCenter |
optimal control inputs for the center trajectory (dimension: [nx, Opts.Nc]) |
Opts |
structure containing user defined options for the algorithm |
Output Arguments
zonoBig |
extended zonotope that results from the reachability analysis. This zonotope still includes the auxiliary states |
reachSet |
cell array containing the reachable sets of all intermediate time steps |
controlLawParam |
parameters of the computed control law |
See Also
convexInterpolationControl, computeExactController
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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