arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 1303.6469math.OC
收藏

多项式控制系统最大受控不变集的凸计算

Convex computation of the maximum controlled invariant set for polynomial control systems

Milan Korda, Didier Henrion, Colin N. Jones

摘要:

我们将离散和连续时间非线性动力系统的最大控制不变集(MCI)刻画为无穷维线性规划问题的解。对于系统的多项式动态和紧凑的半代数状态和控制约束,我们描述了一个层次的有限维线性矩阵不等式(LMI)松弛的最优值收敛到MCI集的体积;双这些LMI松弛的平方和(SOS)问题提供了一个收敛序列的外近似MCI集。该方法是简单的,容易适用的意义上说,近似是一个单一的半定程序的结果,没有额外的输入,除了问题的描述。一些数值例子说明了这种方法。

英文摘要:

We characterize the maximum controlled invariant (MCI) set for discrete- as well as continuous-time nonlinear dynamical systems as the solution of an infinite-dimensional linear programming problem. For systems with polynomial dynamics and compact semialgebraic state and control constraints, we describe a hierarchy of finite-dimensional linear matrix inequality (LMI) relaxations whose optimal values converge to the volume of the MCI set; dual to these LMI relaxations are sum-of-squares (SOS) problems providing a converging sequence of outer approximations to the MCI set. The approach is simple and readily applicable in the sense that the approximations are the outcome of a single semidefinite program with no additional input apart from the problem description. A number of numerical examples illustrate the approach.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

↑