solveOptProblem
models and solves the polynomial programming approximation of the terminal region computation problem.
Contents
Syntax
[obj,termReg_opt,auxData_iter] = solveOptProblem(obj,dynamics,termReg,flagInitGuessFeasible,bloatAbsErr)
Description
This function models and solves the polynomial programming approximation in [1, Eq. (19)] of the optimization problem in [1, Eq. (6)], which returns a robust control invariant set of a given nonlinear dynamical system with maximum volume.
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysPolyApproach |
|
dynamics |
instance of class termRegNonlinSysDynamics |
|
termReg |
current candidate for the terminal region (class: termRegNonlinSysPolyApproach) |
|
flagInitGuessFeasible |
indicates whether termReg admits a feasible initial guess (or not) (boolean) |
|
bloatAbsErr |
(optional) scaling factor for enlarging the set of abstraction errors (see the; verification procedure described in; [2, Sec. III 2]) (bloatAbsErr >= 1) |
Output Arguments
|
obj |
updated instance of class computeTermRegNonlinSysPolyApproach |
|
termReg_opt |
updated candidate for the terminal region (class: termRegNonlinSysPolyApproach) |
|
auxData_iter |
additional solution data (e.g. flag indicating; feasibility) (class: termRegNonlinSysSolutionAuxData) |
See Also
References
[1] L. Schäfer and M. Althoff, "Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis," American Control Conference, 2024, pp. 4162-4169. [2] L. Schäfer et al., "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", 2024, IEEE Transactions on Automatic Control, vol. 69, no. 2, pp. 755-770.
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