Reachability analysis of nonlinear systems with uncertain parameters using conservative linearization

Given an initial set of a nonlinear system with uncertain parameters and inputs, the set of states that can possibly be reached is computed. The approach is based on local linearizations of the nonlinear system, while linearization errors are considered by Lagrange remainders. These errors are added...

Full description

Saved in:
Bibliographic Details
Published in2008 47th IEEE Conference on Decision and Control pp. 4042 - 4048
Main Authors Althoff, M., Stursberg, O., Buss, M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2008
Subjects
Automatic control
Continuous time systems
Control systems
Linear systems
Nonlinear control systems
Nonlinear dynamical systems
Nonlinear systems
Reachability analysis
Safety
State-space methods
Online AccessGet full text
ISBN9781424431236
1424431239
ISSN0191-2216
DOI10.1109/CDC.2008.4738704

Cover

More Information
Summary:Given an initial set of a nonlinear system with uncertain parameters and inputs, the set of states that can possibly be reached is computed. The approach is based on local linearizations of the nonlinear system, while linearization errors are considered by Lagrange remainders. These errors are added as uncertain inputs, such that the reachable set of the locally linearized system encloses the one of the original system. The linearization error is controlled by splitting of reachable sets. Reachable sets are represented by zonotopes, allowing an efficient computation in relatively high-dimensional space.
ISBN:9781424431236
1424431239
ISSN:0191-2216
DOI:10.1109/CDC.2008.4738704