A novel unified framework for solving reachability and invariance problems

DOI10.1080/00207179.2022.2051749MaRDI QIDQ6106376zbMATH OpenOpenAlexFDO

Authors Wei Liao, Taotao Liang, Xiaohui Wei, Jizhou Lai

Publication date 27 June 2023

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2104.07200

zbMATH Keywords

invariancenon-affine nonlinear systemoptimal controlreachability

Mathematics Subject Classification ID

Hamilton-Jacobi equations in optimal control and differential games (49L12) Attainable sets, reachability (93B03)

Abstract: The level set method is a widely used tool for solving reachability and invariance problems. However, some shortcomings, such as the difficulties of handling dissipation function and constructing terminal conditions for solving the Hamilton-Jacobi partial differential equation, limit the application of the level set method in some problems with non-affine nonlinear systems and irregular target sets. This paper proposes a method that can effectively avoid the above tricky issues and thus has better generality. In the proposed method, the reachable or invariant sets with different time horizons are characterized by some non-zero sublevel sets of a value function. This value function is not obtained by solving a viscosity solution of the partial differential equation but by recursion and interpolation approximation. At the end of this paper, some examples are taken to illustrate the accuracy and generality of the proposed method.

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Cited in

(1)

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