Continuous-Time, Finite-Horizon LQR

版本 1.1.0.0 (43.4 KB) 作者: Matthew Kelly
Derivation and implementation of continuous-time finite-horizon Linear Quadratic Regulator
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更新时间 2016/2/21
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A tutorial for using matlab to stabilize a trajectory of a non-linear system, using a finite-horizon continuous-time Linear Quadratic Regulator (LQR). The function trajectoryLqr.m solves the finite-horizon continuous-time LQR problem for a time-varying plant. This is used to generate a trajectory tracking controller. Includes multiple example files to show usage.
The image shows an estimation of the backward-reachable set of states along the trajectory which can be stabilized to the target along the trajectory of choice using the finite-horizon continuous-time LQR controller.

引用格式

Matthew Kelly (2024). Continuous-Time, Finite-Horizon LQR (https://github.com/MatthewPeterKelly/Continuous_Finite_LQR), GitHub. 检索来源 .

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1.1.0.0

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1.0.0.0

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