objOptBasedContr

construct a controller object for the Optimization Based Control Algorithm

Contents

Syntax

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

Description

Constructor of the controller object for the Optimization Based Control Algorithm. 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.

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

.N

number of time steps

.K

cell-array storing the feedback matrices for all time steps

.u_ref

reference input for all time steps

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 objOptBasedContr

See Also

optimizationBasedControl


© 2018-2020 I6 Technische Universität München Website License

logoAroc logoCora logoChair logoTum