A Modified Riccati Transformation for Decentralized Computation of the Viability Kernel Under LTI Dynamics
Abstract
Computing the viability kernel is key in providing guarantees of safety and proving existence of safety-preserving controllers for constrained dynamical systems. Current numerical techniques that approximate this construct suffer from a complexity that is exponential in the dimension of the state. We study conditions under which a linear time-invariant (LTI) system can be suitably decomposed into lower-dimensional subsystems so as to admit a conservative computation of the viability kernel in a decentralized fashion in subspaces. We then present an isomorphism that imposes these desired conditions, particularly on two-time-scale systems. Decentralized computations are performed in the transformed coordinates, yielding a conservative approximation of the viability kernel in the original state space. Significant reduction of complexity can be achieved, allowing the previously inapplicable tools to be employed for treatment of higher-dimensional systems. We show the results on two examples including a 6D system.
Keywords
Cite
@article{arxiv.1302.5990,
title = {A Modified Riccati Transformation for Decentralized Computation of the Viability Kernel Under LTI Dynamics},
author = {Shahab Kaynama and Meeko Oishi},
journal= {arXiv preprint arXiv:1302.5990},
year = {2013}
}