Robust optimization-based affine abstractions for uncertain affine dynamics

Qiang Shen, Sze Yong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper considers affine abstractions for over-approximating uncertain affine discrete-time systems, where the system uncertainties are represented by interval matrices, by a pair of affine functions in the sense of inclusion of all possible trajectories over the entire domain. The affine abstraction problem is a robust optimization problem with nonlinear uncertainties. To make this problem practically solvable, we convert the nonlinear uncertainties into linear uncertainties by exploiting the fact that the system uncertainties are hyperrectangles and thus, we only need to consider the vertices of the hyperrectangles instead of the entire uncertainty sets. Hence, affine abstraction can be solved efficiently by computing its corresponding robust counterpart to obtain a linear programming problem. Finally, we demonstrate the effectiveness of the proposed approach for abstracting uncertain driver intention models in an intersection crossing scenario.

Original languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2452-2457
Number of pages6
ISBN (Electronic)9781538679265
StatePublished - Jul 1 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
Volume2019-July
ISSN (Print)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
CountryUnited States
CityPhiladelphia
Period7/10/197/12/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Shen, Q., & Yong, S. (2019). Robust optimization-based affine abstractions for uncertain affine dynamics. In 2019 American Control Conference, ACC 2019 (pp. 2452-2457). [8815373] (Proceedings of the American Control Conference; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc..