smooth::feedback::ASIFProblem< X, U > Struct Template Reference

Active set invariance problem definition. More...

#include <asif_func.hpp>

Public Attributes
double	T {1}
	time horizon More...
X	x0 {Default<X>()}
	initial state More...
U	u_des {Default<U>()}
	desired input More...
Eigen::Matrix< double, Dof< U >, 1 >	W_u {Eigen::Matrix<double, Dof<U>, 1>::Ones()}
	weights on desired input More...
ManifoldBounds< U >	ulim {}
	input bounds More...

Detailed Description

template<LieGroup X, Manifold U>
requires (Dof<X> > 0 && Dof<U> > 0)
struct smooth::feedback::ASIFProblem< X, U >

Active set invariance problem definition.

The active set invariance problem is

\[ \begin{cases} \min_u & (u \ominus u_{des})' W_u (u \ominus u_{des}) \\ \text{s.t.} & x(0) = x_0 \\ & u \in ulim \\ & h(x(t)) \geq 0, \quad t \in [0, T] \\ \end{cases} \]

for a system \( \mathrm{d}^r x_t = f(x(t), u(t)) \).

Definition at line 41 of file asif_func.hpp.

Member Data Documentation

T

template<LieGroup X, Manifold U>

double smooth::feedback::ASIFProblem< X, U >::T {1}

time horizon

Definition at line 44 of file asif_func.hpp.

u_des

template<LieGroup X, Manifold U>

U smooth::feedback::ASIFProblem< X, U >::u_des {Default<U>()}

desired input

Definition at line 48 of file asif_func.hpp.

ulim

template<LieGroup X, Manifold U>

ManifoldBounds<U> smooth::feedback::ASIFProblem< X, U >::ulim {}

input bounds

Definition at line 52 of file asif_func.hpp.

W_u

template<LieGroup X, Manifold U>

Eigen::Matrix<double, Dof<U>, 1> smooth::feedback::ASIFProblem< X, U >::W_u {Eigen::Matrix<double, Dof<U>, 1>::Ones()}

weights on desired input

Definition at line 50 of file asif_func.hpp.

x0

template<LieGroup X, Manifold U>

X smooth::feedback::ASIFProblem< X, U >::x0 {Default<X>()}

initial state

Definition at line 46 of file asif_func.hpp.

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The documentation for this struct was generated from the following file:

• include/smooth/feedback/asif_func.hpp