Synthesis for Constrained Nonlinear Systems Using Hybridization and Robust Controllers on Simplices

DOI10.1109/TAC.2011.2168874zbMATH Open1369.93192arXiv1103.2612OpenAlexW1971727916MaRDI QIDQ5352791FDOQ5352791

Authors: Antoine Girard, Samuel Martin 

Publication date: 8 September 2017

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

Abstract: In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a triangulation of the state-space where on each simplex of the triangulation, the nonlinear dynamics is conservatively approximated by an affine system subject to disturbances. Except for the disturbances, this hybridization can be seen as a piecewise affine hybrid system on simplices for which appealing control synthesis techniques have been developed in the past decade. We extend these techniques to handle systems subject to disturbances by synthesizing and coordinating local robust affine controllers defined on the simplices of the triangulation. We show that the resulting hybrid controller can be used to control successfully the original constrained nonlinear system. Our approach, though conservative, can be fully automated and is computationally tractable. To show its effectiveness in practical applications, we apply our method to control a pendulum mounted on a cart.

Full work available at URL: https://arxiv.org/abs/1103.2612

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Mathematics Subject Classification ID

Synthesis problems (93B50) Nonlinear systems in control theory (93C10)

Cited In (9)

• Abstractions of Varying Decentralization Degree for Reachability of Coupled Multiagent Systems
• Augmented finite transition systems as abstractions for control synthesis
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• Set-based control for disturbed piecewise affine systems with state and actuation constraints
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• Finite horizon discrete models for multi-agent control systems with coupled dynamics
• Decentralized abstractions for multi-agent systems under coupled constraints
• Robust constrained control of piecewise affine systems through set‐based reachability computations

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