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Spatiotemporal Tubes for Reach-Avoid-Stay Specifications✱

Published: 14 May 2024 Publication History

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.

References

[1]
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.
[2]
P. Jagtap and D. Dimarogonas. 2023. Controller Synthesis against Omega-Regular Specifications: A Funnel-based Control Approach. Authorea Preprints (2023).
[3]
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.
[4]
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.

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Published In

cover image ACM Conferences
HSCC '24: Proceedings of the 27th ACM International Conference on Hybrid Systems: Computation and Control
May 2024
307 pages
ISBN:9798400705229
DOI:10.1145/3641513
Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 14 May 2024

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Author Tags

  1. Closed-form Control
  2. Reach-avoid-stay Task
  3. Spatiotemporal Tubes

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  • Poster
  • Research
  • Refereed limited

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HSCC '24
Sponsor:
HSCC '24: Computation and Control
May 14 - 16, 2024
Hong Kong SAR, China

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Overall Acceptance Rate 153 of 373 submissions, 41%

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