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Data-Driven Reachab...
Data-Driven Reachability Analysis From Noisy Data
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- Alanwar, Amr (author)
- KTH,Reglerteknik,Constructor University, Bremen, Germany, 28759
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- Koch, Anne (author)
- University of Stuttgart, Institute for Systems Theory and Automatic Control, Stuttgart, Germany, 70174
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- Allgower, Frank (author)
- University of Stuttgart, Institute for Systems Theory and Automatic Control, Stuttgart, Germany, 70174
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- Johansson, Karl H., 1967- (author)
- KTH,Reglerteknik
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2023
- 2023
- English.
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In: IEEE Transactions on Automatic Control. - : Institute of Electrical and Electronics Engineers (IEEE). - 0018-9286 .- 1558-2523. ; 68:5, s. 3054-3069
- Related links:
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https://doi.org/10.1...
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https://urn.kb.se/re...
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Abstract
Subject headings
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- We consider the problem of computing reachable sets directly from noisy data without a given system model. Several reachability algorithms are presented for different types of systems generating the data. First, an algorithm for computing over-approximated reachable sets based on matrix zonotopes is proposed for linear systems. Constrained matrix zonotopes are introduced to provide less conservative reachable sets at the cost of increased computational expenses and utilized to incorporate prior knowledge about the unknown system model. Then we extend the approach to polynomial systems and, under the assumption of Lipschitz continuity, to nonlinear systems. Theoretical guarantees are given for these algorithms in that they give a proper over-approximate reachable set containing the true reachable set. Multiple numerical examples and real experiments show the applicability of the introduced algorithms, and comparisons are made between algorithms.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Keyword
- Constrained zonotope
- discrete-time systems
- reachability analysis
- robustness
- zonotope
Publication and Content Type
- ref (subject category)
- art (subject category)
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