# centerTrajectory

Compute the reference trajectory

## Contents

- Syntax
- Description
- Input Arguments
- See Also

## Syntax

[xCenter,uCenter] = centerTrajectory(sys,Opts)

## Description

This function computes the reference trajectory by solving an optimal control problem. If the user provided a reference trajectory then this trajectory is used.

## Input Arguments

sys | function handle to the dynamic function of the benchmark
Opts | a structure containing following options
.nx | number of system states
.nu | number of system inputs
.x0 | initial state
.xf | goal state
.Nc | number of center trajectory time-steps
.hc | time step size for one center trajectory time step
.Q | state weighting matrix for the cost function
.R | input weighting matrix for the cost function
.refTraj.x | user provided reference trajectory (dimension: [nx,Nc + 1])
-.refTraj.u inputs for the user provided reference trajectory (dimension: [nu,Nc])

## See Also

`optimalControl`, `optimalControlFmincon`

© 2018-2023 I6 Technische Universität München `•` Website `•` License