reachsetMPC
Implementation of the Reachset Model Predictive Control algorithm
Contents
Syntax
res = reachsetMPC(benchmark,Param,Opts)
Description
Implementation of the Reachset Model Predictive Control algorithm as described in [1]
Input Arguments
benchmark
|
name of the considered benchmark model (see;
"aroc/benchmarks/dynamics/...")
|
Param
|
a structure containing the benchmark parameters
.R0
|
initial set (class: interval)
|
.xf
|
goal state
|
.U
|
set of admissible control inputs (class:;
interval)
|
.W
|
set of uncertain disturbances (class: interval)
|
|
Opts
|
a structure containing the algorithm settings
.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]
|
|
Output Arguments
res
|
results object storing the computed reachable set and
the center trajectory
|
See Also
convexInterpolationControl
References
- [1] Schuermann et al. (2018), Reachset Model Predictive Control for Disturbed Nonlinear Systems
© 2018-2020 I6 Technische Universität München
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