Convex hulls of reachable sets are crucial in control theory. The authors propose a method to efficiently estimate these convex hulls using solutions of an ordinary differential equation. By characterizing the boundary structure and deriving error bounds, they provide insights into analyzing nonlinear dynamical systems with disturbances.
The study focuses on reachability analysis for nonlinear systems with bounded disturbances and uncertain initial conditions. The authors introduce a novel approach to estimate convex hulls efficiently by characterizing them as solutions to an ordinary differential equation. This method simplifies complex computations and has practical applications in robust controller design.
Key points include:
The research extends previous work by considering time-varying dynamics, uncertain initial conditions, and studying boundary structures for tighter error bounds. Additional numerical results support the efficiency of the proposed algorithm.
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by Thomas Lew,R... às arxiv.org 03-01-2024
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