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Controller Synthesis against Omega-Regular Specifications: A Funnel-based Control Approach
  • Pushpak Jagtap,
  • Dimos Dimarogonas
Pushpak Jagtap
Indian Institute of Science Robert Bosch Centre for Cyber-Physical Systems

Corresponding Author:[email protected]

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Dimos Dimarogonas
Kungliga Tekniska Hogskolan Fastighetsekonomi och finans
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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)-regular languages and equivalently recognized by Non-deterministic 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)-regular property. We demonstrate the effectiveness of the proposed results on room temperature control and mobile robot motion control case studies.
10 Apr 2023Submitted to International Journal of Robust and Nonlinear Control
10 Apr 2023Submission Checks Completed
10 Apr 2023Assigned to Editor
10 Apr 2023Review(s) Completed, Editorial Evaluation Pending
19 Apr 2023Reviewer(s) Assigned
31 May 2023Editorial Decision: Revise Minor
11 Nov 20231st Revision Received
20 Nov 2023Submission Checks Completed
20 Nov 2023Assigned to Editor
20 Nov 2023Review(s) Completed, Editorial Evaluation Pending
20 Nov 2023Reviewer(s) Assigned