Set operations and order reductions for constrained zonotopes
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Publication:2116675
DOI10.1016/J.AUTOMATICA.2022.110204zbMATH Open1485.93101arXiv2009.06039OpenAlexW3086849158MaRDI QIDQ2116675FDOQ2116675
Justin P. Koeln, Vignesh Raghuraman
Publication date: 18 March 2022
Published in: Automatica (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/2009.06039
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Cited In (4)
- Hierarchical clustering of constrained dynamic systems using robust positively invariant sets
- 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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