reachsetOptimalControl

Implementation of the Reachset Optimal Control algorithm

Contents

Syntax

[objContr,res] = reachsetOptimalControl(benchmark,Param,Opts)

Description

Offline-phase computations for the Reachset Optimal Control algorithm.

Input Arguments

benchmark

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

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

Output Arguments

objContr

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

res

results object storing the computed reachable set and the center trajectory

See Also

objReachsetOptContr

References


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