Related papers: Computing robust control invariant sets of constra…
We consider controllable linear discrete-time systems with bounded perturbations and present two methods to compute robust controlled invariant sets. The first method tolerates an arbitrarily small constraint violation to compute an…
The graph-based invariant set (GIS) algorithm is a promising set-based technique for computing the largest (with respect to inclusion) control invariant set of general discrete-time nonlinear dynamical systems. However, like other invariant…
In this paper, we consider the computation of controlled invariant sets (CIS) of discrete-time nonlinear control affine systems. We propose an iterative refinement procedure based on polytopic inclusion functions, which is able to…
In this paper, we consider the problem of computing robust controlled invariants for discrete-time monotone dynamical systems. We consider different classes of monotone systems depending on whether the sets of states, control inputs and…
In this work, we present a distributed framework based on the graph algorithm for computing control invariant set for nonlinear cascade systems. The proposed algorithm exploits the structure of the interconnections within a process network.…
This paper investigates stochastic invariance for control systems through probabilistic controlled invariant sets (PCISs). As a natural complement to robust controlled invariant sets~(RCISs), we propose finite- and infinite-horizon PCISs,…
This paper considers discrete-time linear systems with bounded additive disturbances, and studies the convergence properties of the backward reachable sets of robust controlled invariant sets (RCIS). Under a simple condition, we prove that…
This paper presents a direct data-driven approach for computing robust control invariant (RCI) sets and their associated state-feedback control laws for linear time-invariant systems affected by bounded disturbances. The proposed method…
This paper develops and implements an algorithm to compute sequences of polytopic Robust Forward Invariant Sets (RFIS) that can parametrically vary in size between the maximal and minimal RFIS of a nonlinear dynamical system. This is done…
We consider the problem of computing the maximal invariant set of discrete-time linear systems subject to a class of non-convex constraints that admit quadratic relaxations. These non-convex constraints include semialgebraic sets and other…
We present an algorithm for robust model predictive control with consideration of uncertainty and safety constraints. Our framework considers a nonlinear dynamical system subject to disturbances from an unknown but bounded uncertainty set.…
We present a direct data-driven approach to synthesize robust control invariant (RCI) sets and their associated gain-scheduled feedback control laws for linear parameter-varying (LPV) systems subjected to bounded disturbances. A data-set…
We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets.…
In this paper, we propose an approach for computing invariant sets of discrete-time nonlinear systems by lifting the nonlinear dynamics into a higher dimensional linear model. In particular, we focus on the \emph{maximal admissible…
In this paper we consider the problem of computing control invariant sets for linear controlled high-dimensional systems with constraints on the input and on the states. Set inclusions conditions for control invariance are presented that…
In this paper, we first propose a method that can efficiently compute the maximal robust controlled invariant set for discrete-time linear systems with pure delay in input. The key to this method is to construct an auxiliary linear system…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
This paper delves into the problem of computing robust controlled invariants for monotone continuous-time systems, with a specific focus on lower-closed specifications. We consider the classes of state monotone (SM) and control-state…
This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of iterations and directly yields a partition-based invariance…
This paper presents an iterative algorithm to compute a Robust Control Invariant (RCI) set, along with an invariance-inducing control law, for Linear Parameter-Varying (LPV) systems. As the real-time measurements of the scheduling…