Functional sets with typed symbols: Mixed zonotopes and polynotopes for hybrid nonlinear reachability and filtering

DOI10.1016/J.AUTOMATICA.2022.110457zbMATH Open1497.93221arXiv2009.07387OpenAlexW4285082258MaRDI QIDQ2159000FDOQ2159000

Authors: Christophe Combastel 

Publication date: 26 July 2022

Published in: Automatica (Search for Journal in Brave)

Abstract: Verification and synthesis of Cyber-Physical Systems (CPS) are challenging and still raise numerous issues so far. In this paper, based on a new concept of mixed sets defined as function images of symbol type domains, a compositional approach combining eager and lazy evaluations is proposed. Syntax and semantics are explicitly distinguished. Both continuous (interval) and discrete (signed, boolean) symbol types are used to model dependencies through linear and polynomial functions, so leading to mixed zonotopic and polynotopic sets. Polynotopes extend sparse polynomial zonotopes with typed symbols. Polynotopes can both propagate a mixed encoding of intervals and describe the behavior of logic gates. A functional completeness result is given, as well as an inclusion method for elementary nonlinear and switching functions. A Polynotopic Kalman Filter (PKF) is then proposed as a hybrid nonlinear extension of Zonotopic Kalman Filters (ZKF). Bridges with a stochastic uncertainty paradigm are briefly outlined. Finally, several discrete, continuous and hybrid numerical examples including comparisons illustrate the effectiveness of the theoretical results.

Full work available at URL: https://arxiv.org/abs/2009.07387

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zbMATH Keywords

reachabilitylogicKalman filterszonotopeshybrid dynamic systemsrobust state estimationfunctional setsmixed encodingpolynomial dependenciespolynotopes

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Attainable sets, reachability (93B03) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

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Cited In (3)

• Hybrid zonotopes: A new set representation for reachability analysis of mixed logical dynamical systems
• Computing reachable sets of hybrid systems using a combination of zonotopes and polytopes
• Polynomial logical zonotope: a set representation for reachability analysis of logical systems

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