Reach-Avoid Controllers Synthesis for Safety Critical Systems

• 成果类型: Article
• 署名作者: Xue, Bai
• 署名单位: Chinese Academy of Sciences; Institute of Software, CAS
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3423837
• 发表日期: 2024
• 页码: 8892-8899
• 关键词: safety; control systems; Stochastic systems; mathematical models; Stochastic processes; Aerospace electronics; vectors; Guidance-barrier functions; reach-avoid controllers; safety critical systems

摘要

In this article, we propose a framework for synthesizing reach-avoid controllers for deterministic systems modeled by ordinary differential equations and stochastic systems modeled by stochastic differential equations based on the notion of control guidance-barrier functions. We first consider deterministic systems and aim to synthesize a reach-avoid controller that modifies a nominal controller in a minimal way to enforce the reach-avoid objective. This objective ensures that the system enters a target set eventually while staying within an open safe set before the first target hitting time. Three control guidance-barrier functions and corresponding conditions for synthesizing reach-avoid controllers are developed. These conditions progressively weaken, facilitating optimal controller design. We then extend two of these functions for deterministic systems to stochastic systems to synthesize reach-avoid controllers in the probabilistic setting. Finally, we provide several examples to demonstrate the effectiveness of our proposed methods, using the semidefinite programming tool.