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arXiv · 1909.06468

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

Stanley W. Smith·He Yin·Murat Arcak
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Abstract

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.

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Stanley W. Smith, He Yin, Murat Arcak. 2019-09-13. Continuous Abstraction of Nonlinear Systems using Sum-of-Squares Programming. https://doi.org/10.1016/j.automatica.2020.109065

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