SReachTools: A MATLAB stochastic reachability toolbox: demo abstract
SReachTools: A MATLAB stochastic reachability toolbox: demo abstract
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SReachTools：MATLAB 随机可达性工具箱：演示摘要
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发表时间：
2019
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通讯作者：
Meeko Oishi
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作者：
Abraham P. Vinod;Joseph D. Gleason;Meeko Oishi
在此演示中，我们展示了 SReachTools，这是一个开源 MATLAB 工具箱，用于对受随机扰动扰动的线性、潜在时变、离散时间系统执行随机可达性 [8]。该工具箱解决了目标管的随机可达性问题，其中还包括终端击球避免 [7] 和可行性问题 [1]。如图 1 所示，目标管问题的随机可达性最大化了随机系统的状态在给定时间范围内保持在时变目标集集合内的可能性，同时尊重系统动力学和有限控制权限 [9]。我们感兴趣的是随机到达集的计算，用 LSR(α) 表示，它是满足到达/安全规范且可能性高于 α 的初始状态集，以及相关的最佳可接受控制器。
In this demo, we present SReachTools, an open-source MATLAB toolbox for performing stochastic reachability of linear, potentially time-varying, discrete-time systems that are perturbed by a stochastic disturbance [8]. The toolbox addresses the problem of stochastic reachability of a target tube, which also encompasses the terminal-time hitting reach-avoid [7] and viability problems [1]. As illustrated in Figure 1, the stochastic reachability of a target tube problem maximizes the likelihood that the state of a stochastic system will remain within a collection of time-varying target sets for a give time horizon, while respecting the system dynamics and bounded control authority [9]. We are interested in the computation of the stochastic reach set, denoted by LSR(α), which is the set of initial states that satisfy the reach/safety specification with a likelihood above α, and the associated optimal, admissible controller.