optimalControl
Solve optimal control problem
Contents
Syntax
Description
This function solves an optimal control problem
Input Arguments
system |
object containing the system dynamics (class:; nonlinearSys) |
xf |
desired final state at the end of the control process (dimension: [nx, 1]) |
vert |
vertices of the initial parallelotope. (dimension: [nu,2^nx]) |
h |
length of one timestep of the corner trajectories during which the control input is constant |
Q |
weighting matrix for the final state of the optimal control problem (dimension: [nx,nx]) |
R |
weighting matrix for the input term of the optimal control problem (dimension: [nu,nu]) |
steps |
number of intermediate timesteps of the corner trajectories during one timestep of the center trajectory |
lenHorizon |
length of the optimization horizon in center trajectory time steps |
Output Arguments
u |
optimal control input (dimension: [nu,steps*lenHorizon]) |
x |
resulting state trajectories (dimension: [nx,steps*lenHorizon]) |
See Also
convexInterpolationControl, localCornerControl
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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