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A GEOMETRIC APPROACH TO REACHABILITY COMPUTATIONS FOR CONSTRAINED DISCRETE-TIME SYSTEMS
Eric C Kerrigan, John Lygeros and Jan M Maciejowski
Department of Engineering, University of Cambridge
Trumpington Street, Cambridge CB2 1PZ, United Kingdom
Tel: +44-1223-339706/2770/2732, Fax: +44-1223-332662
email: {eck21,jl290,jmm}@eng.cam.ac.uk
URL: http://www-control.eng.cam.ac.uk
The problem of reachability computations for systems with simultaneous constraints on the states, control inputs and disturbances is treated. A problem formulation is provided for the general case and, for the special case where the disturbance constraints are independent of the states and inputs, it is discussed how the solution can be approached using standard geometric concepts. It is also discussed how the procedure can be implemented for a class of piecewise affine systems with polyhedral constraints using computational geometry software.
Keywords: Nonlinear systems, uncertain dynamic systems, controllability, reachability, invariance, constraint satisfaction, piecewise linear, robust control
Session slot T-Th-E07: Nonlinear Discrete Time Systems II/Area code 2c : Non-linear Systems
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