A computational method for non-convex reachable sets using optimal control

Titelangaben

Baier, Robert ; Gerdts, Matthias:
A computational method for non-convex reachable sets using optimal control.
In: Proceedings of the European Control Conference (ECC). - Piscataway, New Jersey : IEEE , 2009 . - S. 97-102
ISBN 978-3-9524173-9-3
DOI: https://doi.org/10.23919/ECC.2009.7074386

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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.