subsetsInput

compute sets of admissible inputs for each time step

Contents

Syntax

[U,xCenter,uCenter] = subsetsInput(xc,uc,Opts)

Description

Computes the sets of admissible control inputs due to the shift by the reference trajectory control input for all time steps.

Input Arguments

xc

reference trajectory states (dimension: [nx,N*Ninter])

uc

reference trajectory inputs (dimension: [nu,N*Ninter])

Opts

a structure containing the following options

.N

number of time-steps

.Ninter

number of intermediate time steps

.uMaxTotal

maximum allowed control input

.uMinTotal

minimum allowed control input

Output Arguments

U

cell-array containing the sets of admissble control inputs for each time step

xCenter

cell-array containing the reference trajectory states for each time step

uCenter

cell-array containing the reference trajectory inputs for each time step

See Also

safetyNetControl


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