Reachable Tube Computation of Uncertain LTI Systems using Support Functions
european control conference(2021)
摘要
This paper addresses the problem of computation of reachable sets or tubes for uncertain linear time invariant systems. Instead, outer-approximations are frequently used for verification or control synthesis. However, inner-approximations have received less attention. In this paper, we present a method to obtain inner-approximations of reachable tubes based on Minkowski erosion and intersection operators, computed by means of support functions. The benefit of the proposed algorithm is assessed on a 5D example.
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关键词
Reachable sets, reachable tubes, support functions, uncertain LTI systems
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