On the estimation of convergence times to invariant sets in convex polytopic uncertain systems

Title: On the estimation of convergence times to invariant sets in convex polytopic uncertain systems
Creator: McCloy, Ryan J.; De Doná, José A.; Seron, María M.
Relation: Australasian Conference on Artificial Life and Computational Intelligence (ACALCI 2015). Proceedings of the Australasian Conference on Artificial Life and Computational Intelligence (Newcastle, N.S.W. 5-7 February, 2015) p. 62-75
Publisher Link: http://dx.doi.org/10.1007/978-3-319-14803-8_5
Publisher: Springer
Resource Type: conference paper
Date: 2015
Description: In this paper, we first provide a mathematical description and proof for the robust stability of systems with convex polytopic uncertainty through the construction of attractive invariant sets. Then, we present the problem of estimating the convergence time to arbitrarily tight over-approximations of an invariant set, from both a known initial condition and for initial conditions belonging to a convex polytopic set. We then propose various analytical and numerical methods for computing the aforementioned convergence time. Finally, a number of numerical examples, including a flexible link robotic manipulator, are given to illustrate the results.
Subject: convergence time; invariant sets; onvex polytopic uncertainty; robotic applications
Identifier: http://hdl.handle.net/1959.13/1334527
Identifier: uon:27315
Identifier: ISBN:9783319148021
Language: eng
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