Paper Info
Title
On the Robustness of Nominal Nonlinear Minimum-Time Control and Extension to Non-Robustly Controllable Target Sets
Abstract
This work deals with the analysis and the design of minimum-time control laws for a class of nonlinear discrete-time dynamical systems characterized by K-continuous transition maps and bounded control inputs. In the paper, it is shown that the reachability properties of the target set, even if not robust positively controllable in one state transition, can be exploited to assess the existence of a robust positively controllable set including the target in its interior. This result allows the formulation of a robustified minimum-time control policy, based on iterated online optimizations and guaranteeing the ultimate boundedness of the state-trajectories in the presence of bounded uncertainties, even if the target set is not robust positively controllable.
Year
DOI
Venue
2014
10.1109/TAC.2013.2293217
Automatic Control, IEEE Transactions  
Keywords
Field
DocType
controllability,discrete time systems,iterative methods,nonlinear control systems,optimisation,reachability analysis,robust control,trajectory control,bounded control input,bounded uncertainty,iterated online optimization,k-continuous transition maps,minimum-time control law,nominal nonlinear minimum-time control,nonlinear discrete-time dynamical systems,nonrobustly controllable target sets,reachability property,robustified minimum-time control policy,robustness,state transition,state-trajectory,ultimate boundedness,Minimum-time control,nonlinear model predictive control,optimal control
Mathematical optimization,Nonlinear system,Optimal control,Controllability,Control theory,Robustness (computer science),Reachability,Dynamical systems theory,Robust control,Mathematics,Bounded function
Journal
Volume
Issue
ISSN
59
4
0018-9286
Citations 
PageRank 
References 
0
0.34
13
Authors
2
Name
Order
Citations
PageRank
Gilberto Pin113617.21
T Parisini2935113.17