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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2023
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2308.15803 |
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| _version_ | 1866909105647517696 |
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| author | Das, Ratnangshu Jagtap, Pushpak |
| author_facet | Das, Ratnangshu Jagtap, Pushpak |
| contents | The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the trajectories of the nonlinear system, reach a target set while avoiding all unsafe regions and adhering to the state-space constraints. To tackle this problem, we leverage the concept of the funnel-based control approach. Given an arbitrary unsafe region, we introduce a circumvent function that guarantees the system trajectory to steer clear of that region. Subsequently, an adaptive funnel framework is proposed based on the target, followed by the construction of a closed-form controller using the established funnel function, enforcing the reach-avoid-stay specifications. To demonstrate the efficacy of the proposed funnel-based control approach, a series of simulation experiments have been carried out. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2308_15803 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Funnel-based Control for Reach-Avoid-Stay Specifications Das, Ratnangshu Jagtap, Pushpak Systems and Control Optimization and Control 93D15 The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the trajectories of the nonlinear system, reach a target set while avoiding all unsafe regions and adhering to the state-space constraints. To tackle this problem, we leverage the concept of the funnel-based control approach. Given an arbitrary unsafe region, we introduce a circumvent function that guarantees the system trajectory to steer clear of that region. Subsequently, an adaptive funnel framework is proposed based on the target, followed by the construction of a closed-form controller using the established funnel function, enforcing the reach-avoid-stay specifications. To demonstrate the efficacy of the proposed funnel-based control approach, a series of simulation experiments have been carried out. |
| title | Funnel-based Control for Reach-Avoid-Stay Specifications |
| topic | Systems and Control Optimization and Control 93D15 |
| url | https://arxiv.org/abs/2308.15803 |