Interconnected automata and linear systems: a theoretical framework in discrete-time
Proceedings of the DIMACS/SYCON workshop on Hybrid systems III : verification and control: verification and control
(A,B)-invariant polyhedral sets of linear discrete-time systems
Journal of Optimization Theory and Applications
Approximate Reachability Analysis of Piecewise-Linear Dynamical Systems
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Hybridization methods for the analysis of nonlinear systems
Acta Informatica - Hybrid Systems
Reachability analysis of continuous-time piecewise affine systems
Automatica (Journal of IFAC)
Temporal logic motion planning for dynamic robots
Automatica (Journal of IFAC)
Set-Theoretic Methods in Control
Set-Theoretic Methods in Control
Synthesis of output feedback control for motion planning based on LTL specifications
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Necessary and sufficient conditions for reachability on a simplex
Automatica (Journal of IFAC)
Survey paper: Set invariance in control
Automatica (Journal of IFAC)
A control problem for affine dynamical systems on a full-dimensional polytope
Automatica (Journal of IFAC)
Hi-index | 22.15 |
This paper studies the fundamental problems: whether an affine system affected by additive disturbances is robustly transferable from a source set (simplex) to a target set (polytope) and whether it is robustly stabilizable with its state constrained in a simplex. First, a necessary and sufficient condition is derived for the existence of affine feedback control that solves the robust reachability problem. Further investigation is provided for two situations relying on whether the union of the source set and the target set is convex or non-convex. For the former one, a necessary and sufficient condition is obtained in the form of linear inequalities, while for the latter, several computationally feasible sufficient conditions are found. Second, we show that robust stabilization subject to a state constraint is equivalent to find a feasible solution to a linear equation. Once it is known that either of the problems has a solution by checking the derived conditions, design of control laws is then straightforward.