Set operations and order reductions for constrained zonotopes
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Abstract: This paper presents methods for using zonotopes and constrained zonotopes to improve the practicality of a wide variety of set-based operations commonly used in control theory. The proposed methods extend the use of constrained zonotopes to represent sets resulting from operations including halfspace intersections, convex hulls, robust positively invariant sets, and Pontryagin differences. Order reduction techniques are also presented that provide lower-complexity inner-approximations of zonotopes and constrained zonotopes. Numerical examples are used to demonstrate the efficacy and computational advantages of using zonotope-based set representations for dynamic system analysis and control.
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Cites work
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- Constrained zonotopes: a new tool for set-based estimation and fault detection
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Cited in
(7)- Hierarchical clustering of constrained dynamic systems using robust positively invariant sets
- Constrained polynomial zonotopes
- Constrained zonotopes: a new tool for set-based estimation and fault detection
- A comparison of zonotope order reduction techniques
- Hybrid zonotopes: A new set representation for reachability analysis of mixed logical dynamical systems
- Hierarchical MPC for coupled subsystems using adjustable tubes
- Safe path planning and adjustable zonotope-tube model predictive tracking control for autonomous vehicle
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