ct::optcon::LQR< STATE_DIM, CONTROL_DIM > Class Template Reference

continuous-time infinite-horizon LQR More...

#include <LQR.hpp>

Public Types
typedef Eigen::Matrix< double, CONTROL_DIM, CONTROL_DIM >	control_matrix_t
typedef Eigen::Matrix< double, CONTROL_DIM, STATE_DIM >	control_state_matrix_t
typedef Eigen::Matrix< double, STATE_DIM, CONTROL_DIM >	control_gain_matrix_t
typedef Eigen::Matrix< double, CONTROL_DIM, STATE_DIM >	control_feedback_t

Public Member Functions
bool	compute (const state_matrix_t &Q, const control_matrix_t &R, const state_matrix_t &A, const control_gain_matrix_t &B, control_feedback_t &K, bool RisDiagonal=false, bool solveRiccatiIteratively=false)
	design the infinite-horizon LQR controller. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< double, STATE_DIM, STATE_DIM >	state_matrix_t

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM>
class ct::optcon::LQR< STATE_DIM, CONTROL_DIM >

continuous-time infinite-horizon LQR

Implements continous-time infinite-horizon LQR. Resulting feedback law will take the form

Template Parameters

STATE_DIM
CONTROL_DIM

Examples:

LQR.cpp, and LqrTest.h.

Member Typedef Documentation

control_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, CONTROL_DIM, CONTROL_DIM> ct::optcon::LQR< STATE_DIM, CONTROL_DIM >::control_matrix_t

control_state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, CONTROL_DIM, STATE_DIM> ct::optcon::LQR< STATE_DIM, CONTROL_DIM >::control_state_matrix_t

control_gain_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, STATE_DIM, CONTROL_DIM> ct::optcon::LQR< STATE_DIM, CONTROL_DIM >::control_gain_matrix_t

control_feedback_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, CONTROL_DIM, STATE_DIM> ct::optcon::LQR< STATE_DIM, CONTROL_DIM >::control_feedback_t

Member Function Documentation

compute()

template<size_t STATE_DIM, size_t CONTROL_DIM>

bool ct::optcon::LQR< STATE_DIM, CONTROL_DIM >::compute	(	const state_matrix_t &	Q,
		const control_matrix_t &	R,
		const state_matrix_t &	A,
		const control_gain_matrix_t &	B,
		control_feedback_t &	K,
		bool	RisDiagonal = false,
		bool	solveRiccatiIteratively = false
	)

design the infinite-horizon LQR controller.

Parameters

Q	state-weighting matrix
R	control input weighting matrix
A	linear system dynamics matrix A
B	linear system dynamics matrix B
K	control feedback matrix K (to be designed)
RisDiagonal	set to true if R is a diagonal matrix (efficiency boost)
solveRiccatiIteratively	use closed-form solution of the infinite-horizon Riccati Equation

Returns

success

Referenced by main(), and ct::optcon::example::TEST().

Member Data Documentation

state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix<double, STATE_DIM, STATE_DIM> ct::optcon::LQR< STATE_DIM, CONTROL_DIM >::state_matrix_t

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