settings_genSpaceContr_car

algorithm settings for the car benchmark

Contents

Syntax

Opts = settings_genSpaceContr_car()

Description

Algorithm settings and parameter for the controller synthesis algorithm that is based on optimal control in generator space for the car benchmark.

Output Arguments

Opts

a structure containing the algorithm settings

.N

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

.Ninter

number of intermediate time steps during one time step [{4} / positive integer]

.reachSteps

number of reachability steps in one time step [{10} / positive integer]

.Q

state weighting matrix for the cost function of the optimal control problem [{eye(nx)} / positive-definite square matrix]

.R

input weighting matrix for the cost function of the optimal control problem [{zeros(nu)} / positive-definite square matrix]

.refInput

use the input from the reference trajectory as input for the center instead of optimizing [{false} / boolean]

.extHorizon.active

use extended optimization horizon for optimal control problems [{false} / true]

.extHorizon.horizon

length of the extended optimization horizon in center trajectory time steps [{'all'} / positive integer]

.extHorizon.decay

decay function for the objective function of the optimization problem with extended optimization horizon [{'fall+End'} / 'uniform' / 'fall' /; 'fallLinear' / 'fallLinear+End' /; 'fallEqDiff' / 'fallEqDiff+End' /; 'rise' / 'quad' / 'riseLinear' /; 'riseEqDiff' / 'end']

.refTraj.Q

state weighting matrix for the cost function of optimal control problem (dimension:[nx,nx])

.refTraj.R

input weighting matrix for the cost function of optimal control problem (dimension:[nu,nu])

.refTraj.x

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

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

.cora.alg

reachability algorithm that is used [{'lin'} / 'poly']

.cora.tensorOrder

taylor order for the abstraction of the nonlinear function [{2}/ 3]

.cora.taylorTerms

taylor order for computing e^At [{20} / positive integer]

.cora.zonotopeOrder

upper bound for the zonotope order [{30} / positive integer]

.cora.errorOrder

upper bound for the zonotope order before comp. the abstraction error [{5} / positive integer]

.cora.intermediateOrder

upper bound for the zonotope order during internal computations [{20} / positive integer]

See Also

generatorSpaceControl, car


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