ABSTRACT
This study focuses on synthesizing controllers for unknown dynamics control-affine nonlinear systems, aiming to satisfy reach-avoid-stay (RAS) specifications within prescribed-time. The main objective is to derive a closed-form control law, incorporating a novel notion of spatiotemporal tubes, to guarantee that the system trajectories reach a designated target set while avoiding an unsafe set and adhering to state constraints. The efficacy of this approach is demonstrated through simulation.
- C. P. Bechlioulis and G. A. Rovithakis. 2008. Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance. IEEE Trans. Automat. Control 53, 9 (2008), 2090–2099.Google Scholar
Cross Ref
- P. Jagtap and D. Dimarogonas. 2023. Controller Synthesis against Omega-Regular Specifications: A Funnel-based Control Approach. Authorea Preprints (2023).Google Scholar
- M. Kloetzer and C. Belta. 2008. A Fully Automated Framework for Control of Linear Systems from Temporal Logic Specifications. IEEE Trans. Automat. Control 53, 1 (2008), 287–297.Google ScholarCross Ref
- L. Lindemann and D. V. Dimarogonas. 2021. Funnel control for fully actuated systems under a fragment of signal temporal logic specifications. Nonlinear Analysis: Hybrid Systems 39 (2021), 100973.Google ScholarCross Ref
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