Spatiotemporal Tubes for Reach-Avoid-Stay Specifications

Das, R and Jagtap, P (2024) Spatiotemporal Tubes for Reach-Avoid-Stay Specifications. In: 27th ACM International Conference on Hybrid Systems: Computation and Control,, 13 May 2024through 16 May 2024, Hong Kong.

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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. © 2024 Copyright held by the owner/author(s).

Item Type:	Conference Proceedings
Publication:	HSCC 2024 - Proceedings of the 27th ACM International Conference on Hybrid Systems: Computation and Control, HSCC 2024, part of CPS-IoT Week
Publisher:	Association for Computing Machinery, Inc
Additional Information:	The copyright for this article belongs to Association for Computing Machinery, Inc
Keywords:	Affine nonlinear systems; Closed form; Closed-form control; Control laws; Dynamic controls; Reach-avoid-stay task; Spatiotemporal tube; State constraints; System trajectory, Specifications
Department/Centre:	Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited:	29 Jul 2024 05:08
Last Modified:	29 Jul 2024 05:08
URI:	http://eprints.iisc.ac.in/id/eprint/85184

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