Work

Backward Reachability Using Integral Quadratic Constraints for Uncertain Nonlinear Systems

Year: 2020

Type: article

Abstract: A method is proposed to compute robust inner-approximations to the backward reachable set of nonlinear systems and to generate a robust control law that drives trajectories starting in these inner-approximations to a target set. The method merges dissipation inequalities and integral quadratic constraints (IQCs) with both hard and soft IQC factorizations, allowing for a variety of perturbations including parametric uncertainty, unmodeled dynamics, and uncertain time delays. Computational algorithms are developed using the generalized S-procedure and sum-of-squares techniques, and illustrated on a 6-state quadrotor with actuator uncertainties.

Source: IEEE Control Systems Letters

DOI: 10.1109/lcsys.2020.3005315

Authors: He Yin, Peter Seiler, Murat Arcak

Institutions: University of California, Berkeley, University of Michigan

Language: English

Topic: Stability and Control of Uncertain Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Science Foundation, Office of Naval Research, Division of Electrical, Communications and Cyber Systems, Air Force Office of Scientific Research