Finite-Horizon Discrete Time LQR. More...

#include <FHDTLQR.hpp>

Public Types
typedef Eigen::Matrix< SCALAR, STATE_DIM, STATE_DIM >	state_matrix_t

typedef Eigen::Matrix< SCALAR, CONTROL_DIM, CONTROL_DIM >	control_matrix_t

typedef Eigen::Matrix< SCALAR, CONTROL_DIM, STATE_DIM >	control_state_matrix_t

typedef Eigen::Matrix< SCALAR, STATE_DIM, CONTROL_DIM >	control_gain_matrix_t

typedef Eigen::Matrix< SCALAR, CONTROL_DIM, STATE_DIM >	control_feedback_t

typedef core::StateVectorArray< STATE_DIM, SCALAR >	state_vector_array_t

typedef core::ControlVectorArray< CONTROL_DIM, SCALAR >	control_vector_array_t

typedef ct::core::StateMatrixArray< STATE_DIM, SCALAR >	state_matrix_array_t

typedef ct::core::FeedbackArray< STATE_DIM, CONTROL_DIM, SCALAR >	control_feedback_array_t

typedef ct::core::StateControlMatrixArray< STATE_DIM, CONTROL_DIM, SCALAR >	control_gain_matrix_array_t

Public Member Functions
	FHDTLQR (std::shared_ptr< CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >> costFunction)
	Constructor. More...

	~FHDTLQR ()

void	designController (const state_vector_array_t &x_trajectory, const control_vector_array_t &u_trajectory, const state_matrix_array_t &A, const control_gain_matrix_array_t &B, SCALAR dt, control_feedback_array_t &K, bool performNumericalChecks=true)
	design a time-varying feedback trajectory using user-provided matrices A and B More...

void	designController (const state_vector_array_t &x_trajectory, const control_vector_array_t &u_trajectory, std::shared_ptr< core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> derivatives, SCALAR dt, control_feedback_array_t &K, bool performNumericalChecks=true)
	design a time-varying feedback trajectory using a user-provided derivative-pointer More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >

Finite-Horizon Discrete Time LQR.

compute the finite-horizon discrete time LQR solution (Example: stabilize a linear time-varying system about a trajectory). The user can either provide the linearized system matrices, or alternatively a pointer to a derivatives instance

The feedback law has form

$u_{fb} = -K \cdot (x - x_{ref})$

Template Parameters

STATE_DIM	system state dimension
CONTROL_DIM	system input dimension

Member Typedef Documentation

◆ state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, STATE_DIM, STATE_DIM> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t

◆ control_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, CONTROL_DIM, CONTROL_DIM> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::control_matrix_t

◆ control_state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, CONTROL_DIM, STATE_DIM> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::control_state_matrix_t

◆ control_gain_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, STATE_DIM, CONTROL_DIM> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::control_gain_matrix_t

◆ control_feedback_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, CONTROL_DIM, STATE_DIM> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::control_feedback_t

◆ state_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef core::StateVectorArray<STATE_DIM, SCALAR> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_array_t

◆ control_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef core::ControlVectorArray<CONTROL_DIM, SCALAR> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_array_t

◆ state_matrix_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef ct::core::StateMatrixArray<STATE_DIM, SCALAR> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_array_t

◆ control_feedback_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef ct::core::FeedbackArray<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::control_feedback_array_t

◆ control_gain_matrix_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef ct::core::StateControlMatrixArray<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::control_gain_matrix_array_t

Constructor & Destructor Documentation

◆ FHDTLQR()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::FHDTLQR ( std::shared_ptr< CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >> costFunction )

Constructor.

Parameters

costFunction the cost function to be used for designing the TVLQR

◆ ~FHDTLQR()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::~FHDTLQR ( )

Member Function Documentation

◆ designController() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::designController	(	const state_vector_array_t &	x_trajectory,
		const control_vector_array_t &	u_trajectory,
		const state_matrix_array_t &	A,
		const control_gain_matrix_array_t &	B,
		SCALAR	dt,
		control_feedback_array_t &	K,
		bool	performNumericalChecks = `true`
	)

design a time-varying feedback trajectory using user-provided matrices A and B

Parameters

x_trajectory	state reference trajectory
u_trajectory	control reference trajectory
A	trajectory of system matrices A = df/dx
B	trajectory of system matrices B = df/du
dt	sampling time
K	trajectory of resulting control feedback arrays
performNumericalChecks	(optional) perform some numerical checks while solving for K

◆ designController() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::designController	(	const state_vector_array_t &	x_trajectory,
		const control_vector_array_t &	u_trajectory,
		std::shared_ptr< core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >>	derivatives,
		SCALAR	dt,
		control_feedback_array_t &	K,
		bool	performNumericalChecks = `true`
	)

design a time-varying feedback trajectory using a user-provided derivative-pointer

Parameters

x_trajectory	state reference trajectory
u_trajectory	control reference trajectory
derivatives	shared_ptr to a LinearSystem, allowing to compute A and B
dt	sampling time
K	trajectory of resulting control feedback arrays
performNumericalChecks	(optional) perform some numerical checks while solving for K

References dt, and i.

Member Data Documentation

◆ control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::ControlVector<CONTROL_DIM, SCALAR> ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

The documentation for this class was generated from the following files:

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/lqr/FHDTLQR.hpp
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/lqr/FHDTLQR-impl.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double> class ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ state_matrix_t

◆ control_matrix_t

◆ control_state_matrix_t

◆ control_gain_matrix_t

◆ control_feedback_t

◆ state_vector_array_t

◆ control_vector_array_t

◆ state_matrix_array_t

◆ control_feedback_array_t

◆ control_gain_matrix_array_t

Constructor & Destructor Documentation

◆ FHDTLQR()

◆ ~FHDTLQR()

Member Function Documentation

◆ designController() [1/2]

◆ designController() [2/2]

Member Data Documentation

◆ control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >