Year: 2025
Type: preprint
Abstract: In this work, we address the issue of controller synthesis for a control-affine nonlinear system to meet prescribed time reach-avoid-stay specifications. Our goal is to improve upon previous methods based on spatiotemporal tubes (STTs) by eliminating the need for circumvent functions, which often lead to abrupt tube modifications and high control effort. We propose an adaptive framework that constructs smooth STTs around static unsafe sets, enabling continuous avoidance while guiding the system toward the target within the prescribed time. A closed-form, approximation-free control law is derived to ensure the system trajectory remains within the tube and satisfies the RAS task. The effectiveness of the proposed approach is demonstrated through a case study, showing a significant reduction in control effort compared to prior methods.
Source: arXiv (Cornell University)
Institutions: Indian Institute of Science Bangalore, Robert Bosch (India)
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: Ministry of Education, India
OpenAlex ID: W7091187647
Cites:
Cited by:
Related to: