Path generation based on convex lifting: optimization of the corridors
The capability to compute a partition of a cluttered environment starting from the obstacles
that lie in it enables the construction of a route connecting an initial point to a desired final …
that lie in it enables the construction of a route connecting an initial point to a desired final …
Robustness of PWA control based on a coupled vertex sensitivity analysis
Under the vertex representation for the state partitions, this paper studies the robustness of
PWA control for constrained discrete-time linear systems. In particular, the aim is to evaluate …
PWA control for constrained discrete-time linear systems. In particular, the aim is to evaluate …
Sensitivity of Piecewise control laws with respect to perturbation of the state-space partition
The control design techniques for linear or hybrid systems (eg anti-wind up, MPC) lead often
to off-line state-space partitions with non-overlapping convex polyhedral regions. This …
to off-line state-space partitions with non-overlapping convex polyhedral regions. This …