param_robotArm

parameters for the robot arm benchmark

Syntax
Description
Output Arguments
See Also

Syntax

Param = param_robotArm()

Description

Parameters for the robot arm benchmark. The parameters include input constraints, disturbances as well as the parameters of the motion primitive like initial set, goal state, etc..

Output Arguments

Param

a structure containing following options

.R0

initial set of states (class: interval)

.xf

goal state

.tFinal

final time after which the goal state should be reached

.U

set of admissible control inputs (class:; interval)

.W

set of uncertain disturbances (class: interval; or zonotope)

.V

set of measurement errors (class: interval or; zonotope)

.X

set of state constraints (class: mptPolytope)

param_robotArm

Contents

Syntax

Description

Output Arguments

See Also