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

03/02/2021

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by   Stefan B. Liu, et al.

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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.