Optimal control of sets of solutions to formally guarantee constraints of disturbed linear systems

Bastian Schurmann, Matthias Althoff

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

25 Scopus citations

Abstract

Optimal control finds an optimal input trajectory which steers an initial state to a desired final state while satisfying given state and input constraints. However, most efficient approaches are restricted to a single initial state. In this paper, we present a new approach, which combines reachability analysis with optimal control. This enables us to solve the optimal control problem for a whole set of initial states by optimizing over the set of all possible solutions. At the same time, we are able to provide formal guarantees for the satisfaction of state and input constraints. Taking the effects of sets of disturbances into account ensures that the resulting controller is robust against them, which is a big advantage over many existing approaches. We show the applicability of our approach with a vehicle-platoon example.

Original languageEnglish
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2522-2529
Number of pages8
ISBN (Electronic)9781509059928
DOIs
StatePublished - 29 Jun 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: 24 May 201726 May 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2017 American Control Conference, ACC 2017
Country/TerritoryUnited States
CitySeattle
Period24/05/1726/05/17

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