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Titel:

Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Schäfer, Lukas; Gruber, Felix; Althoff, Matthias
Abstract:
Ensuring robust constraint satisfaction for an infinite-time horizon is a challenging, yet crucial task when deploying safety-critical systems. In this article, we address this issue by synthesizing robust control invariant sets of perturbed nonlinear sampled-data systems. This task can be encoded as a nonconvex program that we approximate by a tailored, computationally efficient successive convexification algorithm. Based on the zonotopic representation of invariant sets, we obtain an updated c...     »
Zeitschriftentitel:
IEEE Transactions on Automatic Control
Jahr:
2024
Band / Volume:
69
Monat:
Feb
Heft / Issue:
2
Seitenangaben Beitrag:
755-770
Volltext / DOI:
doi:10.1109/TAC.2023.3275305
Print-ISSN:
0018-9286
E-ISSN:
1558-2523
Publikationsdatum:
11.05.2023
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