simulate
simulate a trajectory of a nonlinear system controlled with a maneuver automaton
Contents
Syntax
[res,t,x,u] = simulate(obj,ind,x0,w)
[res,t,x,u] = simulate(obj,ind,x0,w,v)
Description
Simulate a trajectory of a nonlinear closed-loop system controlled with a maneuver automaton for a given initial point and given specific disturbance values over time.
Input Arguments
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obj |
object of class maneuverAutomaton storing the maneuver automaton |
|
ind |
indices of the motion primitives for the planned trajectory |
|
x0 |
initial point for the simulation |
|
w |
cell-array storing the values for the disturbances for the single motion primitives |
|
v |
cell-array storing the values for the measurement errors for the single motion primitives |
Output Arguments
|
res |
results object storing the simulation data |
|
t |
vector storing the time points for the simulated states |
|
x |
matrix storing the simulated trajectory (dimension: [t,nx]) |
|
u |
matrix storing the control inputs for the simulated trajectory (dimension: [t,nu]) |
See Also
maneuverAutomaton, simulateRandom
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