Scalable Calculation of Reach Sets and Tubes for Nonlinear Systems with Terminal Integrators A Mixed Implicit Explicit Formulation

摘要

The solution of a particular Hamilton-Jacobi (HJ) partial differential equation (PDE) provides an implicit representation of reach sets and tubes for continuous systems with nonlinear dynamics and can treat inputs in either worst-case or best-case fashion; however, it can rarely be determined analytically and its numerical approximation typically requires computational resources that grow exponentially with the state space dimension. In this paper we describe a new formulation-also based on HJ PDEs-for reach sets and tubes of systems where some states are terminal integrators: states whose evolution can be written as an integration over time of the other states. The key contribution of this new mixed implicit explicit (MIE) scheme is that its computational cost is linear in the number of terminal integrators, although still exponential in the dimension of the rest of the state space. Application of the new scheme to four examples of varying dimension provides empirical evidence of its considerable improvement in computational speed.