Temporally-Interpolated Funnel Synthesis for Nonlinear SystemsDownload PDF

15 Jun 2020, 23:13 (modified: 06 Jul 2022, 20:03)RSS 2020 Robust Autonomy WorkshopReaders: Everyone
Keywords: nonlinear control, Lyapunov methods, differential matrix inequalities, controlled-invariant sets, semidefinite programming
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.
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.
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