safetyNetControl
Implementation of the safety net controller based on backward rechable set computation
Contents
Syntax
[objContr,res] = safetyNetControl(benchmark,Param,Opts)
[objContr,res] = safetyNetControl(benchmark,Param,Opts,Post)
Description
Offline-phase computations for the Safety Net Control Algorithm Algorithm.
Input Arguments
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benchmark
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name of the considered benchmark model (see;
"aroc/benchmarks/...")
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Param
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a structure containing the benchmark parameters
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.R0
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initial set of states (class: interval)
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.xf
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goal state
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.tFinal
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final time after which the goal state should be
reached
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.U
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set of admissible control inputs (class:;
interval)
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.W
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set of uncertain disturbances (class: interval)
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.V
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set of measurement errors (class: interval or;
zonotope)
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.X
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set of state constraints (class: mptPolytope)
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Opts
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a structure containing the algorithm settings
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.N
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number of time-steps
[{10} / positive integer]
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.Ninter
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number of intermediate time steps
[{4} / positive integer]
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.reachSteps
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number of reachability steps in one time step
[{10} / positive integer]
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.order
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maximum zonotope order of backward reach. sets
[{3} / positive integer]
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.iter
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number of iterations for optimization
[{1} / positive integer]
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.realTime
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flag specifying if real time computation time
constraints are considered (Opts.realTime = 1)
or not (Opts.realTime = 0) [{false} / boolean]
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.tComp
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time allocated to perform the computations for
the optimizations (0 < tComp < tFinal/N/Ninter)
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.controller
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string specifying the comfort controller that
is applied during online execution
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.contrOpts
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struct with confort controller settings
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.refTraj.Q
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state weighting matrix for the cost function of
optimal control problem (dimension:[nx,nx])
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.refTraj.R
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input weighting matrix for the cost function of
optimal control problem (dimension:[nu,nu])
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.refTraj.x
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user provided reference trajectory
(dimension: [nx,Opts.N*Opts.Ninter + 1])
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-.refTraj.u inputs for the user provided reference
trajectory (dimension: [nu,Opts.N*Opts.Ninter])
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Post
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function handle to the postprocessing function that is
used to compute the occupancy set
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Output Arguments
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objContr
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resulting controller storing the data computed during
the offline phase (class: objSafteyNetContr)
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res
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results object storing the computed reachable set and
the center trajectory
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See Also
objSafetyNetContr
References
- [1] Schuermann et al. (2021), Formal Safety Net Control Using Backward Reachability Analysis
© 2018-2023 I6 Technische Universität München
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