comfContrLQR

class representing an LQR controller object

Contents

Syntax

obj = CONFCONTRLQR(benchmark,Opts,ContrOpts)

Description

This class represents a LQR (Linear Quadratic Regulator) controller object which can be used as a comfort controller during the online phase of the Safety Net Controller.

Input Arguments

benchmark

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

Opts

a structure containing following options

.xf

goal state

.tFinal

final time after which the goal set should be reached

.U

set of admissible control inputs (class:; interval)

.W

set of uncertain disturbances (class: interval)

.N

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

.Ninter

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

.reachSteps

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

.xCenter

reference trajectory states

.uCetner

reference trajectory inputs

ContrOpts

a structure with options for comfort controller

.Q

State weighting matrix for the LQR controller

.R

Input weighting matrix for the LQR controller

Output Arguments

obj

resulting object of class comfContrLQR

See Also

safetyNetControl, objSafetyNetContr


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