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Reachable Set Estimation for Uncertain Linear Systems with Known Inputs

Zhihao Zhang, Xinsheng Wang, Wenbo Xie, Xin Zhang*, and Yi Shen
International Journal of Control, Automation, and Systems, vol. 18, no. 10, pp.2445-2455, 2020

Abstract : This paper studies a reachable set estimation for systems with parameter uncertainties and known input. A new method is proposed for estimating real-time reachable sets of systems with parameter uncertainties, known input and non-zero initial condition. In order to reduce the effect of known inputs on the reachable set estimation, we propose a method by separating the uncertain systems into two subsystems: the subsystem with known input and the subsystem with parameter uncertainties. By solving the optimization problem in terms of linear matrix inequalities, real-time reachable sets are obtained. The effectiveness of the proposed method is illustrated by the simulation result of the lateral dynamic system of a vehicle.

Keyword : Linear matrix inequality, linear systems, parameter uncertainties, reachable set estimation, system separation.

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