Conference proceedings article
Reachability analysis of nonlinear systems with uncertain parameters using conservative linearization



Publication Details
Authors:
Althoff, M.; Stursberg, O.; Buss, M.
Editor:
IEEE
Publication year:
2008
Pages range:
4042-4048
Book title:
47th IEEE Conference on Decision and Control, 2008. CDC 2008.
ISBN:
978-1-4244-3123-6

Abstract
Given an initial set of a nonlinear system with uncertain parameters and inputs, the set of states that can possibly be reached is computed. The approach is based on local linearizations of the nonlinear system, while linearization errors are considered by Lagrange remainders. These errors are added as uncertain inputs, such that the reachable set of the locally linearized system encloses the one of the original system. The linearization error is controlled by splitting of reachable sets. Reachable sets are represented by zonotopes, allowing an efficient computation in relatively high-dimensional space.


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Last updated on 2019-25-07 at 10:08