Control design along trajectories with sums of squares programming

@article{Majumdar2013ControlDA,
  title={Control design along trajectories with sums of squares programming},
  author={Anirudha Majumdar and Amir Ali Ahmadi and Russ Tedrake},
  journal={2013 IEEE International Conference on Robotics and Automation},
  year={2013},
  pages={4054-4061}
}
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 invariance are given in terms of sums of squares proofs of a set of appropriately defined Lyapunov inequalities. These certificates, together with our proposed polynomial controllers, can be efficiently obtained… CONTINUE READING
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