constraintfunctionFmincon
constraints for the optimal control problems if solved with FMINCON
Contents
Syntax
Description
This function determines whether or not the constraints for the optimal control problems are satisfied, for the case that the optimal control problmes are solved with Matlab build-in function FMINCON
Input Arguments
y |
parameter vector for the optimization problem (y = [x,u]) |
nx |
number of system states x |
nu |
number of control inputs u |
N |
number of time steps for the optimal control problem |
dt |
time step size for the optimal control problem |
x0 |
initial state at the beginning of the optimal control problem |
dynamics |
function handle pointing to the function that implements the system dynamics |
Output Arguments
c |
amount of constraint violation for greater than constraints |
ceq |
amount of constraint violation for equality constraints |
See Also
convexInterpolationControl, optimalControlFmincon
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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