TY - GEN
T1 - Reachability analysis of nonlinear systems with uncertain parameters using conservative linearization
AU - Althoff, Matthias
AU - Stursberg, Olaf
AU - Buss, Martin
PY - 2008
Y1 - 2008
N2 - Given an initial set of a nonlinear system with uncertain parameters and inputs, the set of states that can possibly be reached is computed. The approach is based on local linearizations of the nonlinear system, while linearization errors are considered by Lagrange remainders. These errors are added as uncertain inputs, such that the reachable set of the locally linearized system encloses the one of the original system. The linearization error is controlled by splitting of reachable sets. Reachable sets are represented by zonotopes, allowing an efficient computation in relatively high-dimensional space.
AB - Given an initial set of a nonlinear system with uncertain parameters and inputs, the set of states that can possibly be reached is computed. The approach is based on local linearizations of the nonlinear system, while linearization errors are considered by Lagrange remainders. These errors are added as uncertain inputs, such that the reachable set of the locally linearized system encloses the one of the original system. The linearization error is controlled by splitting of reachable sets. Reachable sets are represented by zonotopes, allowing an efficient computation in relatively high-dimensional space.
UR - http://www.scopus.com/inward/record.url?scp=62949169899&partnerID=8YFLogxK
U2 - 10.1109/CDC.2008.4738704
DO - 10.1109/CDC.2008.4738704
M3 - Conference contribution
AN - SCOPUS:62949169899
SN - 9781424431243
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4042
EP - 4048
BT - Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 47th IEEE Conference on Decision and Control, CDC 2008
Y2 - 9 December 2008 through 11 December 2008
ER -