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TransversalSurface Class Reference

Transversal surfaces for orbital stabilization irm@m.nosp@m.it.e.nosp@m.du. More...

Collaboration diagram for TransversalSurface:

Public Member Functions

function TransversalSurface (z, w)
 
function getPi (obj, t)
 
function plotSurface (obj, xtraj, rad, plotdims)
 
function plotFunnel (obj, Vtraj, xtraj, plotdims, options)
 

Static Public Member Functions

static function design (plant, w, xtraj, utraj, Nsteps, optimize, init_surf_normal, final_surf_normal)
 Design transversal surfaces Documentation to come % irm@m.nosp@m.it.e.nosp@m.du. More...
 
static function z_opt (fs, ts, pnorm, zguess, zinit, zfinal, smooth_reg, orthog_reg, verbose)
 zs = z_opt(fs,pnorm,zguess,zinit,zfinal) More...
 

Public Attributes

Property z
 
Property zdot
 
Property eta
 
Property w
 

Detailed Description

Transversal surfaces for orbital stabilization irm@m.nosp@m.it.e.nosp@m.du.

Constructor & Destructor Documentation

function TransversalSurface ( z  ,
w   
)
Return values
obj

Member Function Documentation

static function design ( plant  ,
w  ,
xtraj  ,
utraj  ,
Nsteps  ,
optimize  ,
init_surf_normal  ,
final_surf_normal   
)
static

Design transversal surfaces Documentation to come % irm@m.nosp@m.it.e.nosp@m.du.

Return values
TransSurf
function getPi ( obj  ,
 
)
Return values
PiPidot
function plotFunnel ( obj  ,
Vtraj  ,
xtraj  ,
plotdims  ,
options   
)
Return values
h
function plotSurface ( obj  ,
xtraj  ,
rad  ,
plotdims   
)
Return values
h
static function z_opt ( fs  ,
ts  ,
pnorm  ,
zguess  ,
zinit  ,
zfinal  ,
smooth_reg  ,
orthog_reg  ,
verbose   
)
static

zs = z_opt(fs,pnorm,zguess,zinit,zfinal)

Basic optimization of z(tau), as a sequence of vectors. Inputs:

  • fs: f(x_star(tau)) as a sequence of vectors
  • ts: corresponding sequence of times
  • pnorm: which l^p norm to optimize over (Default = 10).
  • zguess: initial guess for zs. (Default = fs/norm(fs).)
  • zinit, zfinal: enpoint constraints for z(tau), for switching surfaces if not given, assume periodic: zinit=zfinal.
  • smooth_reg: L2 smoothness regulariser (optional positive number, default 0)
  • orthog_reg: orthogonality regulariser (optional positive number, default 0)
  • verbose: print out details of optimization (optional)

irm@m.nosp@m.it.e.nosp@m.du

Return values
zs
fval

Member Data Documentation

Property eta
Property w
Property z
Property zdot

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