Loading web-font TeX/Caligraphic/Regular
Backward Reachability for Polynomial Systems on a Finite Horizon | IEEE Journals & Magazine | IEEE Xplore

Backward Reachability for Polynomial Systems on a Finite Horizon


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 trajectori...Show More

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.
Published in: IEEE Transactions on Automatic Control ( Volume: 66, Issue: 12, December 2021)
Page(s): 6025 - 6032
Date of Publication: 02 February 2021

ISSN Information:

Funding Agency:


References

References is not available for this document.