Code covered by the BSD License
...
Quarter-car new objective with design and state constraints
calc_state_constraints(t,...
calc_zdot(x, z, v)
calculateControlBounds(nt... CalculateControlBounds compute two vectors for control upper and lower
checkSolver(obj) checkSolver checks the solver option for appropriate settings.
computeStateConstraints(o... computeStateConstraints computes the state constraints and Jacobian
defectEquation(system, in... DEFECTEQUATION computes the discretized defect equation for an ODE system
dtOutput(obj, n, x, optim... dtOutput saves the intermediate result of direct transcription
evaluateStateConstraints(... evaluateStateConstraints computes inequality state constraints for the given
fillInStateConstraint(G, ... fillInStateConstraint fill in the state constraint at a given offset
hessian_x(Fun, x0, varargin) Finite difference evaluation of the Hessian of a function
lookup_u(tu, t)
myplot_results(platform) Generate plots from saved results
myplot_signal(varargin) myplot_signal format the plot using a few standard formatting
myplot_ylabel(s)
perturb_x(fun, x0, varargin) Finite difference
simple_sys() A very simple system for testing purposes
test_simple_sys() Test various stuff in the solver library
test_solver_misc() Test various stuff in the solver library
DTSolverWithInputs DTSOLVERWITHINPUTS Direct transcription solver for systems with open
DesignConstraint
InitCondition
Objective An objective function formulated for state trajectories
OptionFactory
SequentialSolverWithInputs Solve optimization for design variable xd
StateConstraint
System A System is essentially an ODE system, it must implements a derivative method
demo_qcar_dt.m % Authors: James T. Allison, Assistant Professor, University of Illinois at Urbana-Champaign, Zhi Han, Tinghao Guo
demo_qcar_sequential.m % Authors: James T. Allison, Assistant Professor, University of Illinois at Urbana-Champaign, Zhi Han, Tinghao Guo
run_comparison.m This is a simple script to run demo_qcar and demo_qcar_sequential save
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Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription
by
James Allison
25 Feb 2013
A toolbox for using Direct Transcription to perform combined plant and control design.
StateConstraint
classdef StateConstraint
% A state constraint is a nonlinear constraint for state trajectories
% A state constraint must be satisfied for all time points under
% consideration.
%
properties
% An must implements nonlinear constraint g(xd, x) <= 0
fun
% An must implements the Jacobian of the nonlinear
% constraint
% [ J_d, J_s] = jacobian(xd, x)
jacobian
% To-do: Hessian of the Lagrangian
hessian
end
end
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