gpops学习
setup
mesh.colpoints配点
mesh.phase.fraction:N个间隔
setup.mesh.phase.colpoints = 10*ones(1,N);
setup.mesh.phase.fraction = ones(1,N)/N;
guess(phase¶meter)
phase.time
phase.state
phase.control
guess里面的值代表了整个求解过程的初始值,非常重要
mesh
phase§.fraction:指定mesh intervals,多少个间隔
pahse§.colpoints:指定每个间隔里面的配点个数
input
phase.parameter表示参数,一般是未知数,并不会被更新,但是会最终求得一个符合最优解的值(在continuous和Main里面会有)
bounds
- eventgroup(1):一般约束为0
bounds.eventgroup(1).lower = [zeros(1,7)];
bounds.eventgroup(1).upper = [zeros(1,7)];
一般在endpoint文件中定义,