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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2503.08337 |
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| _version_ | 1866917951437799424 |
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| author | Das, Ratnangshu Bayezeed, Aiman Aatif Jagtap, Pushpak |
| author_facet | Das, Ratnangshu Bayezeed, Aiman Aatif Jagtap, Pushpak |
| contents | This paper provides a discretization-free solution to the synthesis of approx-imation-free closed-form controllers for unknown nonlinear systems to enforce complex properties expressed by $ω$-regular languages, as recognized by Non-deterministic Büchi Automata (NBA). In order to solve this problem, we first decompose NBA into a sequence of reach-avoid problems, which are solved using the Spatiotemporal Tubes (STT) approach. Controllers for each reach-avoid task are then integrated into a hybrid policy that ensures the fulfillment of the desired $ω$-regular properties. We validate our method through omnidirectional robot navigation and manipulator control case studies. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_08337 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Spatiotemporal Tubes based Controller Synthesis against Omega-Regular Specifications for Unknown Systems Das, Ratnangshu Bayezeed, Aiman Aatif Jagtap, Pushpak Systems and Control This paper provides a discretization-free solution to the synthesis of approx-imation-free closed-form controllers for unknown nonlinear systems to enforce complex properties expressed by $ω$-regular languages, as recognized by Non-deterministic Büchi Automata (NBA). In order to solve this problem, we first decompose NBA into a sequence of reach-avoid problems, which are solved using the Spatiotemporal Tubes (STT) approach. Controllers for each reach-avoid task are then integrated into a hybrid policy that ensures the fulfillment of the desired $ω$-regular properties. We validate our method through omnidirectional robot navigation and manipulator control case studies. |
| title | Spatiotemporal Tubes based Controller Synthesis against Omega-Regular Specifications for Unknown Systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.08337 |