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Reachability-based Identification, Analysis, and Control Synthesis of Robot Systems
We introduce reachability analysis for the formal examination of robots. We
propose a novel identification method, which preserves reachset conformance of
linear systems. We additionally propose a simultaneous identification and
control synthesis scheme to obtain optimal controllers with formal guarantees.
In a case study, we examine the effectiveness of using reachability analysis to
synthesize a state-feedback controller, a velocity observer, and an output
feedback controller.Comment: This work has been submitted to the IEEE for possible publication.
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