Continuous Abstraction of Nonlinear Systems using Sum-of-Squares Programming

Autor:	Smith, Stanley W., Yin, He, Arcak, Murat
Rok vydání:	2019
Předmět:	Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
DOI:	10.1016/j.automatica.2020.109065
Popis:	We present a control design procedure for nonlinear control systems in which we represent a potentially high dimensional system with a low dimensional continuous-state abstraction. The abstraction generates a reference which the original system follows with a low level controller. We propose sum-of-squares programming as a tool to design this controller and to provide an upper bound on the relative error between the system and its abstraction. We compute the low level controller simultaneously with a simulation function that gives the boundedness guarantee for the relative error. Comment: 6 pages, 4 figures, accepted to IEEE CDC 2019
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1909.06468 Zobrazit plný text záznamu View this record from Arxiv