safetyNetControl

Implementation of the safety net controller based on backward rechable set computation

Contents

Syntax

[objContr,res] = safetyNetControl(benchmark,Param,Opts)
[objContr,res] = safetyNetControl(benchmark,Param,Opts,Post)

Description

Offline-phase computations for the Safety Net Control Algorithm Algorithm.

Input Arguments

benchmark

name of the considered benchmark model (see; "aroc/benchmarks/...")

Param

a structure containing the benchmark parameters

.R0

initial set of states (class: interval)

.xf

goal state

.tFinal

final time after which the goal state should be reached

.U

set of admissible control inputs (class:; interval)

.W

set of uncertain disturbances (class: interval)

Opts

a structure containing the algorithm settings

.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

.refTraj.x

user provided reference trajectory (dimension: [nx,N*Ninter + 1])

-.refTraj.u inputs for the user provided reference trajectory (dimension: [nu,N*Ninter])

Post

function handle to the postprocessing function that is used to compute the occupancy set

Output Arguments

objContr

resulting controller storing the data computed during the offline phase (class: objSafteyNetContr)

res

results object storing the computed reachable set and the center trajectory

See Also

objSafetyNetContr

References


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