settings_reachsetMPC_artificialSystem_traj1

algorithm settings for the artificial system benchmark

Contents

Syntax

Opts = settings_reachsetMPC_artificialSystem_traj1()

Description

Algorithm settings and parameter for the Reachset Model Predictive Control algorithm for the artificial system benchmark.

Output Arguments

Opts

a structure containing following options

.tOpt

final time for the optimization

.N

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

.reachSteps

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

.U_

tightened set of admissible control inputs (class: interval)

.termReg

terminal region around the steady state xf (class: mptPolytope)

.Q

state weighting matrix for the cost function of optimal control problem (reference trajectory)

.R

input weighting matrix for the cost function of optimal control problem (reference trajectory)

.Qlqr

state weighting matrix for the cost function of the LQR approach (tracking controller)

.Rlqr

input weighting matrix for the cost function of the LQR approach (tracking controller)

.realTime

flag specifying if real time computation time constraints are considered (Opts.realTime = 1) or not (Opts.realTime = 0) [{true} / boolean]

.tComp

time allocated to perform the computations for the optimizations (0 < tComp < tOpt/N).

.alpha

contraction rate for the contraction constraint [{0.1} / alpha > 0]

.maxIter

maximum number of iterations for the optimal control problem [{10} / positive integer]

.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 [{10} / positive integer]

.cora.zonotopeOrder

upper bound for the zonotope order [{5} / positive integer]

.cora.errorOrder

upper bound for the zonotope order before comp. the abstraction error [{3} / positive integer]

.cora.intermediateOrder

upper bound for the zonotope order during internal computations [{3} / positive integer]

See Also

reachsetMPC, artificialSystem

References


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