Backward Reachability for Polynomial Systems on a Finite Horizon
نویسندگان
چکیده
A method is presented to obtain an inner-approximation of the backward reachable set a given target tube, along with admissible controller that maintains trajectories inside this tube. The proposed optimization algorithms are formulated as nonlinear problems, which decoupled into tractable subproblems and solved by iterative algorithm using polynomial S-procedure sum-of-squares techniques. This framework also extended uncertain systems $\mathcal {L}_2$ disturbances {L}_{\infty }$ parametric uncertainties. effectiveness demonstrated on several robotics aircraft control saturation.
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2021
ISSN: ['0018-9286', '1558-2523', '2334-3303']
DOI: https://doi.org/10.1109/tac.2021.3056611