Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems

Bastian Schürmann, Matthias Althoff

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

24 Scopus citations

Abstract

A new control method for nonlinear systems is presented which solves reach-avoid problems by interpolating optimal solutions using convex combinations. It also provides formal guarantees for constraint satisfaction and safety. Reachavoid problems are important control tasks, which arise in many modern cyber-physical systems, including autonomous driving and robotic path planning. We obtain our control policy by computing the optimal input trajectories for finitely many extreme states only and combining them using convex combinations for all states in a continuous set. Our approach has very low online computation complexity, making it applicable for fast dynamical systems. Iterating through our approach leads to a new form of feedback control with formal guarantees in the presence of disturbances. We demonstrate the new control method for a control problem in automated driving and show the advantages compared to a classical control method.

Original languageEnglish
Title of host publicationHSCC 2017 - Proceedings of the 20th International Conference on Hybrid Systems
Subtitle of host publicationComputation and Control (part of CPS Week)
PublisherAssociation for Computing Machinery, Inc
Pages121-130
Number of pages10
ISBN (Electronic)9781450345903
DOIs
StatePublished - 13 Apr 2017
Event20th ACM International Conference on Hybrid Systems: Computation and Control, HSCC 2017 - Pittsburgh, United States
Duration: 18 Apr 201720 Apr 2017

Publication series

NameHSCC 2017 - Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control (part of CPS Week)

Conference

Conference20th ACM International Conference on Hybrid Systems: Computation and Control, HSCC 2017
Country/TerritoryUnited States
CityPittsburgh
Period18/04/1720/04/17

Keywords

  • Convex combinations
  • Formal verification
  • Interpolation control
  • Nonlinear control
  • Reach-avoid problems
  • Robust control

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