optimizationBasedControl

Implementation of a optimazation based control algorithm

Contents

Syntax

[objContr,res] = optimizationBasedControl(benchmark,Param)
[objContr,res] = optimizationBasedControl(benchmark,Param,Opts)
[objContr,res] = optimizationBasedControl(benchmark,Param,Opts,Post)

Description

Offline-phase computations for a control algorithm that is based on the optimization over reachable sets

Input Arguments

benchmark

name of the considered benchmark model (see; "aroc/benchmarks/...")

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)

.X

set of state constraints (class: mptPolytope)

Opts

a structure containing the algorithm settings

.N

number of time steps [{5} / positive integer]

.reachSteps

number of reachability steps during one time step (optimization) [{10} / positive integer]

.reachStepsFin

number of reachability steps during one time step (final reachable set computation) [{100} / positive integer]

.maxIter

maximum number of iterations for optimization with fmincon [{15} / positive integer]

.bound

scaling factor between upper and lower bound of the weigthing matrices [{1000} / positive scalar]

.refTraj.Q

state weighting matrix for the cost function of optimal control problem (dimension:[nx,nx])

.refTraj.R

input weighting matrix for the cost function of optimal control problem (dimension:[nu,nu])

.refTraj.x

user provided reference trajectory (dimension: [nx,Opts.N + 1])

-.refTraj.u inputs for the user provided reference trajectory (dimension: [nu,Opts.N])

.cora.alg

reachability algorithm (nonlinear) [{'lin'} / 'poly']

.cora.linAlg

reachability algorithm (linear) [{'standard'} / 'fromStart' /; 'wrapping-free' / 'adap']

.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 [{50} / positive integer]

.cora.errorOrder

upper bound for the zonotope order before comp. the abstraction error [{5} / positive integer]

.cora.intermediateOrder

upper bound for the zonotope order during internal computations [{30} / positive integer]

.cora.error

uppper-bound for Hausdorff distance (for cora.linAlg = 'adap' only)

Post

function handle to the postprocessing function that is used to compute the occupancy set

Output Arguments

objContr

resulting controller storing the data computed during the offline phase (class: objOptBasedContr)

res

results object storing the computed reachable set and the center trajectory

See Also

objOptBasedContr

References


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