This paper presents applications of polytopic approximation methods for reachable set computation using dynamic optimization. The problem of computing exact reachable sets can be formulated in terms of a Hamilton-Jacobi partial differential equation (PDE). Numerical solutions which provide convergent approximations of this PDE have computational complexity which is exponential in the continuous variable dimension. Using dynamic optimization and polytopic approximation, computationally efficient algorithms for overapproximative reachability analysis have been developed for linear dynamical systems. In this paper, we show that these can be extended to feedback linearizable nonlinear systems, linear dynamic games, and norm-bounded nonlinear systems. Three illustrative examples are presented.
ASJC Scopus subject areas
- Electrical and Electronic Engineering