reachSet
computes the reachable set for an LQR comfort controller
Contents
Syntax
Description
Computes the reachable set for one time step of the LQR (Linear Quadratic Regulator) tracking controller which is used as a comfort controller during online application of the Safety Net Controller.
Input Arguments
|
obj |
object of class comfContrLQR storing the control law computed in the offline-phase |
|
x0 |
initial set for reachable set computatoin |
|
iter |
current iteration (=time step) of the Safety Net Controller |
Output Arguments
|
res |
flag specifying if the constraints are satisfied or not |
|
R |
final reachable set (class: zonotope) |
|
Param |
control parameters computed during the online phase which are required for the simulation of the controller later on |
See Also
safetyNetControl, simulate, comfContrLQR
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