writeFminconFiles

Generate files for optimal control using fmincon

Contents

Syntax

Description

This function generates the cost function and the constraints for the optimal control problems as well as the corresponding derivatives using symbolic computing.

Input Arguments

path	path to the root directory of the control algorithm
benchmark	name of the selected benchmark
Opts	a structure containing following options .nx number of system states .nu number of system inputs .extHorizon.active use extended optimization horizon for optimal control problems (optional) [{false} / true] .extHorizon.horizon length of the extended optimization horizon in center trajectory time steps (optional) [{'all'} / positive integer] .extHorizon.decay decay function for the objective function of the optimization problem with extended optimization horizon (optional) [{'uniform'} / 'fall' / 'fall+end' /; 'fallLinear' / 'fallLinear+End' /; 'fallEqDiff' / 'FallEqDiff+End' /; 'rise' / 'quad' / 'riseLinear' /; 'riseEqDiff' / 'end']

See Also

initOpts, writeAcadoFiles

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Published with MATLAB® R2022a