rcognita.systems.Sys3WRobotNI

class rcognita.systems.Sys3WRobotNI(sys_type, dim_state, dim_input, dim_output, dim_disturb, pars=[], ctrl_bnds=[], is_dyn_ctrl=0, is_disturb=0, pars_disturb=[])

System class: 3-wheel robot with static actuators (the NI - non-holonomic integrator).

__init__(sys_type, dim_state, dim_input, dim_output, dim_disturb, pars=[], ctrl_bnds=[], is_dyn_ctrl=0, is_disturb=0, pars_disturb=[])

Parameters

• sys_type (: string) –

  Type of system by description:

  diff_eqn : differential equation $\mathcal{D}state=f(state,action,disturb)$

  discr_fnc : difference equation $stat{e}^{+}=f(state,action,disturb)$

  discr_prob : by probability distribution $X^{+}\sim P_X(stat{e}^{+}|state,action,disturb)$

• where –

  $state$ : state

  $action$ : input

  $disturb$ : disturbance

• time variable t is commonly used by ODE solvers (The) –

• you shouldn't have it explicitly referenced in the definition (and) –

• your system is non-autonomous. (unless) –

• the latter case (For) –

• however –

• already have the input and disturbance at your disposal. (you) –

• of the system are contained in pars attribute. (Parameters) –

• dim_state (: integer) – System dimensions

• dim_input (: integer) – System dimensions

• dim_output (: integer) – System dimensions

• dim_disturb (: integer) – System dimensions

• pars (: list) – List of fixed parameters of the system

• ctrl_bnds (: array of shape [dim_input, 2]) – Box control constraints. First element in each row is the lower bound, the second - the upper bound. If empty, control is unconstrained (default)

• is_dyn_ctrl (: 0 or 1) – If 1, the controller (a.k.a. agent) is considered as a part of the full state vector

• is_disturb (: 0 or 1) – If 0, no disturbance is fed into the system

• pars_disturb (: list) – Parameters of the disturbance model

Methods

__init__(sys_type, dim_state, dim_input, …)	param sys_type Type of system by description:
closed_loop_rhs(t, state_full)	Right-hand side of the closed-loop system description.
out(state[, action])	System output.
receive_action(action)	Receive exogeneous control action to be fed into the system.

Attributes

name