Temporally-Interpolated Funnel Synthesis for Nonlinear Systems

Taylor Patrick Reynolds, Danylo Malyuta, Mehran Mesbahi, Behcet Acikmese

Abstract: We propose a novel temporal interpolation scheme to enable Lyapunov-based convex synthesis of controlled invariant sets, called funnels, around nominal trajectories for a class of nonlinear systems. The approach scales well to high dimensional systems, and aims to maximize funnel volume.

TL;DR: This paper presents a method to compute a time-varying funnel using convex optimization that serves as a controlled-invariant set for a nonlinear system.

Keywords: nonlinear control, Lyapunov methods, differential matrix inequalities, controlled-invariant sets, semidefinite programming