simulateRandom

simulate random trajectories of a nonlinear system controlled with a maneuver automaton

Contents

Syntax

Description

Simulate trajectories of a nonlinear closed-loop system controlled with a maneuver automaton for randomly drawn disturbance values.

Input Arguments

obj	object of class maneuverAutomaton storing the control law computed in the offline-phase
ind	indices of the motion primitives for the planned trajectory
x0	initial point for the simulation
Npoints	number of trajectories that are simulated
fracDistVert	fraction of random disturbance values corresponding to vertices of the disturbance set (value in [0,1])
distChanges	number of changes of the disturbance values during one time step of the algorithm (integer > 0)

Output Arguments

res	results object storing the simulation data
t	cell-array storing the vectors with the time points for all simulated trajectories
x	cell-array storing the matrices with all simulated trajectories
u	cell-array storing the matrices with the applied control inputs for all simulated trajectories

See Also

maneuverAutomaton, simulate

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Published with MATLAB® R2022a