Location of Repository

Robust Reach-Avoid Controller Synthesis for Switched Nonlinear Systems

By Jerry Ding and Claire J. Tomlin

Abstract

Abstract — In this paper, we describe a method to automatically synthesize controllers that provide hard guarantees of safety and target reachability for sampled-data switched systems under bounded continuous disturbances. Techniques from hybrid system verification are used to perform continuous time differential game calculations on each sampling interval. Iterative procedures are given for computing the set of states for which there exists an admissible control policy so that the closed-loop system satisfies the properties of safety and reachability over a finite time horizon. From this computation, we show how to obtain an explicit state feedback policy in the form of multiple reachable sets, and an algorithm is given for using this feedback law in closed-loop control of the switched system. A simulation example of automated aerial refueling is used to illustrate the application of our approach. I

Year: 2013
OAI identifier: oai:CiteSeerX.psu:10.1.1.298.2558
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://citeseerx.ist.psu.edu/v... (external link)
  • http://www.eecs.berkeley.edu/~... (external link)
  • Suggested articles


    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.