Comparison of reachability methods for uncertain linear time-invariant systems
- Resource Type
- Conference
- Authors
- Ben Makhlouf, Ibtissem; Hansch, Paul; Kowalewski, Stefan
- Source
- 2013 European Control Conference (ECC) Control Conference (ECC), 2013 European. :1101-1106 Jul, 2013
- Subject
- Robotics and Control Systems
Approximation methods
Ellipsoids
Generators
Accuracy
Linear systems
Complexity theory
Vehicles
- Language
In this paper, we evaluate a number of methods for computing reachable sets using on one hand approximations and on the other hand invariants. We address systems of the form ẋ(t) = Ax(t)+ Bu(t) with uncertain but bounded input function u(t). We introduce our implementation based on zonotopes and use SpaceEx for support functions. Then, we go through our LMI-based implementation of ellipsoidal invariants and the canonical decomposition for large scale systems. Performance and accuracy of each method are evaluated using academic and practical examples.