Papers › Koopman-Hopf Hamilton-Jacobi Reachability and Control
Koopman-Hopf Hamilton-Jacobi Reachability and Control
Will Sharpless, Nikhil Shinde, Matthew Kim, Yat Tin Chow, Sylvia Herbert
The Hopf formula for Hamilton-Jacobi reachability (HJR) analysis has been proposed to solve high-dimensional differential games, producing the set of initial states and corresponding controller required to reach (or avoid) a target despite bounded disturbances. As a space-parallelizable method, the Hopf formula avoids the curse of dimensionality that afflicts standard dynamic-programming HJR, but is restricted to linear time-varying systems. To compute reachable sets for high-dimensional nonlinear systems, we pair the Hopf solution with Koopman theory for global linearization. By first lifting a nonlinear system to a linear space and then solving the Hopf formula, approximate reachable sets can be efficiently computed that are much more accurate than local linearizations. Furthermore, we construct a Koopman-Hopf disturbance-rejecting controller, and test its ability to drive a 10-dimensional nonlinear glycolysis model. We find that it significantly out-competes expectation-minimizing and game-theoretic model predictive controllers with the same Koopman linearization in the presence of bounded stochastic disturbance. In summary, we demonstrate a dimension-robust method to approximately solve HJR, allowing novel application to analyze and control high-dimensional, nonlinear systems with disturbance. An open-source toolbox in Julia is introduced for both Hopf and Koopman-Hopf reachability and control.
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