Computing Robust Controlled Invariant Sets of Linear Systems

DOI10.1109/TAC.2017.2672859MaRDI QIDQ5358660zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Matthias Rungger, Paulo Tabuada

Publication date 21 September 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1601.00416

Mathematics Subject Classification ID

Attainable sets, reachability (93B03) Control/observation systems with incomplete information (93C41) Discrete-time control/observation systems (93C55)

Abstract: We consider controllable linear discrete-time systems with bounded perturbations and present two methods to compute robust controlled invariant sets. The first method tolerates an arbitrarily small constraint violation to compute an arbitrarily precise outer approximation of the maximal robust controlled invariant set, while the second method provides an inner approximation. The outer approximation scheme is $delta$-complete, given that the constraint sets are formulated as finite unions of polytopes.

Cited in

(17)

• Sum-of-squares methods for controlled invariant sets with applications to model-predictive control
• Convex-lifting-based robust control design using the tunable robust invariant sets
• Computation of the maximal invariant set of discrete-time linear systems subject to a class of non-convex constraints
• Invariant cover: existence, cardinality bounds, and computation
• Ultimate Bounds and Robust Invariant Sets for Linear Systems with State-Dependent Disturbances
• On efficient computation of low-complexity controlled invariant sets for uncertain linear systems
• Design of control invariant sets of planar systems
• Robust Invariant Sets Computation for Discrete-Time Perturbed Nonlinear Systems
• Full‐complexity polytopic robust control invariant sets for uncertain linear discrete‐time systems
• Computation of robust control invariant sets with predefined complexity for uncertain systems
• Non-compact positively invariant sets and their application to the control of speed constrained mechanical systems with saturated actuators
• Characterization, verification and computation of robust controlled invariants for monotone dynamical systems
• Inner-outer approximation of robust control invariant sets
• Approximation of RCI set contained within a 2-norm ball or an ellipsoid
• Assessing safety for control systems using sum-of-squares programming
• Set-theoretic safety control with formal guarantees for uncertain linear systems under sensor attacks
• Robust invariant sets for constrained storage systems

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