optimalControl

Solve optimal control problem

Contents

Syntax

[u,x] = optimalControl(system,xf,vert,h,Q,R,steps,lenHorizon)

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


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