centerTrajectory

Compute the reference trajectory

Contents

Syntax

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

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Published with MATLAB® R2022a