objConvInterContr

construct a controller object for the Convex Interpolation Controller

Contents

Syntax

obj = objConvInterContr(dyn,Rfin,contrLaw,Param)
obj = objConvInterContr(dyn,Rfin,contrLaw,Param,occSet)

Description

Constructor of the controller object for the Convex Interpolation Controller. The object stores all computed data from the offline-phase of the algorithm. The controller object can be used to simulate the online-phase of the algorithm or to visualize the stored data.

Input Arguments

dyn

function handle to the dynamic function of the open-loop system

Rfin

final reachable set

contrLaw

a structure containing the control law parameter

.controller

used controller ('linear', 'quadratic', or; 'exact')

.Param

cell-array storing the control law parameter for each time step

.Nc

number of center trajectory time steps

.Ninter

number of intermediate time steps

.P

cell-array storing a parallelotope enclosure of the reachable set for each time step

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)

occSet

cell-array storing the occupancy set

Output Arguments

obj

resulting object of class objConvInterContr

See Also

convexInterpolationControl


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