settings_optBasedContr_car_turnRight

algorithm settings for the car benchmark

Contents

Syntax

Opts = settings_optBasedContr_car_turnRight()

Description

Algorithm settings and parameter for the optimization based control algorithm for the car benchmark (maneuver: turn right)

Output Arguments

Opts

a structure containing following options

.R0

initial set of states (class: interval)

.xf

goal state

.tFinal

final time after which the goal state should be reached

.X

set of safe states (class: mptPolytope)

.U

set of admissible control inputs (class:; interval)

.W

set of uncertain disturbances (class: interval)

.N

number of time-steps [{10} / positive integer]

.Q

State weighting matrix for the cost function (center trajectory)

.R

Input weighting matrix for the cost function (center trajectory)

See Also

optimizationBasedControl, car


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