FACTEST is tool for synthesizing controllers for nonlinear systems with reach-avoid requirements. The controllers found by FACTEST consists of a reference trajectory and a tracking controller which drives the actual trajectory to follow the reference trajectory. In our papers, we identify a type of reference trajectory such that the tracking error between the actual trajectory of the closed-loop system and the reference trajectory can be bounded and pre-computed. Moreover, such a bound on the tracking error is independent of the reference trajectory. Using such bounds on the tracking error, we propose a method that can find a reference trajectory by solving a satisfiability problem over linear constraints. Our overall algorithm guarantees that the resulting controller can make sure every trajectory from the initial set of the system satisfies the given reach-avoid requirement.
References in zbMATH (referenced in 1 article , 1 standard article )
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- Fan, Chuchu; Miller, Kristina; Mitra, Sayan: Fast and guaranteed safe controller synthesis for nonlinear vehicle models (2020)