Title :
A computational method for non-convex reachable sets using optimal control
Author :
Baier, Robert ; Gerdts, Matthias
Author_Institution :
Dept. of Math., Univ. of Bayreuth, Bayreuth, Germany
Abstract :
A computational method for the approximation of reachable sets for non-linear dynamic systems is suggested. The method is based on a discretization of the interesting region and a projection onto grid points. The projections require to solve optimal control problems which are solved by a direct discretization approach. These optimal control problems allow a flexible formulation and it is possible to add non-linear state and/or control constraints and boundary conditions to the dynamic system. Numerical results for non-convex reachable sets are presented. Possible applications include robust optimal control problems.
Keywords :
approximation theory; nonlinear control systems; nonlinear dynamical systems; optimal control; reachability analysis; set theory; boundary conditions; computational method; control constraints; direct discretization approach; dynamic system; flexible formulation; grid point projection; nonconvex reachable set approximation; nonconvex reachable sets; nonlinear dynamic systems; nonlinear state constraints; region discretization; robust optimal control problems; Adaptive algorithms; Approximation algorithms; Approximation methods; Equations; Heuristic algorithms; Optimal control;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
