Computing controlled invariant sets for hybrid systems with applications to model-predictive control

Benoît Legat; Paulo Tabuada; Raphaël M. Jungers

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arXiv · 1802.04522

Computing controlled invariant sets for hybrid systems with applications to model-predictive control

Benoît Legat·Paulo Tabuada·Raphaël M. Jungers

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Abstract

In this paper, we develop a method for computing controlled invariant sets using Semidefinite Programming. We apply our method to the controller design problem for switching affine systems with polytopic safe sets. The task is reduced to a semidefinite programming problem by enforcing an invariance relation in the dual space of the geometric problem. The paper ends with an application to safety critical model predictive control.

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BibTeX RIS

Benoît Legat, Paulo Tabuada, Raphaël M. Jungers. 2018-02-13. Computing controlled invariant sets for hybrid systems with applications to model-predictive control. https://arxiv.org/abs/1802.04522

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