optimalControlFmincon
Solve optimal control problem with FMINCON
Contents
Syntax
Description
This function solves an optimal control problem using a multiple shooting algorithm and FMINCON
Input Arguments
|
system |
object containing the system dynamics (class:; nonlinearSys) |
|
xf |
desired final state at the end of the control process (dimension: [nx, 1]) |
|
x0 |
initial state (dimension: [nx, 1]) |
|
h |
length of one timestep of the corner trajectories during which the control input is constant |
|
Q |
weighting matrix for the final state of the optimal control problem (dimension: [nx,nx]) |
|
R |
weighting matrix for the input term of the optimal control problem (dimension: [nu,nu]) |
|
steps |
number of intermediate timesteps of the corner trajectories during one timestep of the center trajectory |
|
lenHorizon |
length of the optimization horizon in center trajectory time steps |
|
Opts |
structure containing user defined options for the algorithm |
Output Arguments
|
u |
optimal control input (dimension: [nu,steps*horizon]) |
|
x |
resulting state trajectories (dimension: [nx,steps*horizon]) |
See Also
convexInterpolationControl, writeFminconFiles
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