TY - GEN
T1 - Reachability Analysis for Linear Systems with Uncertain Parameters using Polynomial Zonotopes
AU - Luo, Ertai
AU - Kochdumper, Niklas
AU - Bak, Stanley
N1 - Publisher Copyright:
© 2023 Copyright held by the owner/author(s). Publication rights licensed to ACM.
PY - 2023/5/9
Y1 - 2023/5/9
N2 - In real world applications, uncertain parameters are the rule rather than the exception. We present a reachability algorithm for linear systems with uncertain parameters and inputs using set propagation of polynomial zonotopes. In contrast to previous methods, our approach is able to tightly capture the non-convexity of the reachable set. Building up on our main result, we show how our reachability algorithm can be extended to handle linear time-varying systems as well as linear systems with time-varying parameters. Moreover, our approach opens up new possibilities for reachability analysis of linear time-invariant systems, nonlinear systems, and hybrid systems. We compare our approach to other state of the art methods, with superior tightness on two benchmarks including a 9-dimensional vehicle platooning system.
AB - In real world applications, uncertain parameters are the rule rather than the exception. We present a reachability algorithm for linear systems with uncertain parameters and inputs using set propagation of polynomial zonotopes. In contrast to previous methods, our approach is able to tightly capture the non-convexity of the reachable set. Building up on our main result, we show how our reachability algorithm can be extended to handle linear time-varying systems as well as linear systems with time-varying parameters. Moreover, our approach opens up new possibilities for reachability analysis of linear time-invariant systems, nonlinear systems, and hybrid systems. We compare our approach to other state of the art methods, with superior tightness on two benchmarks including a 9-dimensional vehicle platooning system.
KW - formal verification
KW - linear systems with uncertain parameters
KW - polynomial zonotopes
KW - reachability analysis
UR - https://www.scopus.com/pages/publications/85160536648
U2 - 10.1145/3575870.3587130
DO - 10.1145/3575870.3587130
M3 - Conference contribution
AN - SCOPUS:85160536648
T3 - HSCC 2023 - Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control, Part of CPS-IoT Week
BT - HSCC 2023 - Proceedings of the 26th ACM International Conference on Hybrid Systems
PB - Association for Computing Machinery, Inc
T2 - 26th ACM International Conference on Hybrid Systems: Computation and Control, HSCC 2023, Part of CPS-IoT Week 2023
Y2 - 10 May 2023 through 12 May 2023
ER -