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Stefan B. Liu

Reachability-based Identification, Analysis, and Control Synthesis of Robot Systems

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Mar 02, 2021
Stefan B. Liu, Bastian Schürmann, Matthias Althoff
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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.

* This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible 
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