Reachable Set Computation Algorithm Based on Optimal Theory and Disturbance Observer

In this paper, as for the general nonlinear system with external disturbance, an optimal theory-based and higher-order disturbance observer-based reachable set computation algorithm is proposed. Firstly, a review of the reachable set theory is conducted. Specifically, the optimal theory-based reachable set computation approach, namely the distance fields over grids (DFOG) method, is introduced. Subsequently, a disturbance observation technique based on the high-order disturbance observer and a disturbance prediction technology based on the high-order Taylor series is developed, which allows the predicted disturbance to be directly utilized in the framework of the DFOG. Finally, the simulation is designed and implemented to validate the effectiveness of the proposed reachable set computation algorithm.