Control design along trajectories with sums of squares programming
Motivated by the need for formal guarantees on the stability and safety of controllers for challenging robot control tasks, we present a control design procedure that explicitly seeks to maximize the size of an invariant "funnel" that leads to a predefined goal set. Our certificates of inv...
Main Authors: | , , |
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Other Authors: | , |
Format: | Article |
Language: | English |
Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2014-10-14T13:51:32Z.
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Subjects: | |
Online Access: | Get fulltext |