Year: 2021
Type: article
Abstract: A method is presented to obtain an inner-approximation of the backward reachable set of a given target tube, along with an admissible controller that maintains trajectories inside this tube. The proposed optimization algorithms are formulated as nonlinear optimization problems, which are decoupled into tractable subproblems and solved by an iterative algorithm using the polynomial S-procedure and sum-of-squares techniques. This framework is also extended to uncertain nonlinear systems with$\mathcal {L}_2$disturbances and$\mathcal {L}_{\infty }$parametric uncertainties. The effectiveness of the method is demonstrated on several nonlinear robotics and aircraft systems with control saturation.
Authors: He Yin, Murat Arcak, Andrew Packard, Peter Seiler
Institutions: University of California, Berkeley, University of Michigan
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3127322525