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- Title
Controller synthesis against omega‐regular specifications: A funnel‐based control approach.
- Authors
Jagtap, Pushpak; Dimarogonas, Dimos V.
- Abstract
The paper focuses on the problem of formal synthesis of controllers for control‐affine nonlinear systems against complex properties. Our goal is to design a closed‐form control policy that guarantees the satisfaction of complex properties that are expressed using (ω$$ \omega $$)‐regular languages and equivalently recognized by nondeterministic Büchi automata (NBA). We propose leveraging a funnel‐based control approach to provide a closed‐form solution to the problem. Our approach decomposes the specification represented by NBA into a sequence of reachability problems, which we solve using a funnel‐based control approach. Controllers associated with each reachability problem are then combined to design a hybrid control policy enforcing the desired (ω$$ \omega $$)‐regular property. We demonstrate the effectiveness of the proposed results on room temperature control and mobile robot motion control case studies.
- Subjects
NATIONAL Basketball Association; ROBOT control systems; ROBOT motion; TEMPERATURE control; MOBILE robots; SATISFACTION
- Publication
International Journal of Robust & Nonlinear Control, 2024, Vol 34, Issue 11, p7161
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.7339