Polytopic Inner Approximation of Admissible Sets for Linear Systems

Abstract

This paper presents a method for computing inner polytopic approximations of admissible sets for continuous-time linear control systems subject to multiple affine state constraints, with a particular concern on computational tractability for large dimensional problems. In place of globally computing the admissible set and the part of its boundary called the barrier, we compute the so-called individual admissible sets and the corresponding barriers for each single constraint. We then use the exact sampling of linear systems and generate polytopes in half-space representation that provide an approximation of the individual admissible sets, to finally intersect them. We provide a complexity analysis of the whole procedure to evaluate its efficiency. The approach is illustrated by two examples -a triple integrator and a mass-spring-damper chain considered in 4, 6, 8, and 10 dimensions- with corresponding runtimes evaluated for both.

35 pages, 11 figures