- 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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