An iterative algorithm for volume maximization of N-step backward reachable sets for constrained linear time-varying systems
Paper i proceeding, 2021

In this paper, we consider the computation of robust N-step backward reachable sets for state-and input con-strained linear time-varying systems with additive uncertainty. We propose a method to compute a linear, time-varying control law that maximizes the volume of the robust N-step reachable set for the closed-loop system. The proposed method is an extension of recent developments and involves the recursive solution of N semi-definite programs (SDP). We demonstrate the performance of the proposed method on the lateral control problem for emergency maneuvers of autonomous vehicles and compare it to results obtained when backward reachability is applied to the same system and a naively designed controller.

Författare

Stefan Kojchev

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Ankit Gupta

Zenseact AB

Robert Hult

Volvo Group

Jonas Fredriksson

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN)

Vol. 2021-December 5027-5032
9781665436595 (ISBN)

60th IEEE Conference on Decision and Control, CDC 2021
Austin, USA,

Högintegritetssystem för att säkra säkerheten för automatiserade körsystem

VINNOVA (2018-02708), 2018-10-01 -- 2022-03-01.

Ämneskategorier

Robotteknik och automation

Reglerteknik

Datavetenskap (datalogi)

DOI

10.1109/CDC45484.2021.9683221

Mer information

Senast uppdaterat

2022-03-21