objReachsetOptContr

construct a controller object for the Reachset Optimal Control Algorithm

Contents

Syntax

obj = objReachsetOptContr(dyn,Rfin,contrLaw,Param)

Description

Constructor of the controller object for the Reachset Optimal 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 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

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)

Output Arguments

obj

resulting object of class objReachsetOptContr

See Also

reachsetOptimalControl


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