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Synthesizing Communication Plans for Reachability and Safety Specifications
Osaka Univ, Grad Sch Engn Sci, Toyonaka, Osaka 5600043, Japan..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2020 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 65, no 2, p. 561-576Article in journal (Refereed) Published
Abstract [en]

We propose control and communication strategies for nonlinear networked control systems subject to state and input constraints. The objective is to steer the state of the system toward a prescribed target set in finite time (reachability), while at the same time remaining inside a safety set for all time (safety). By leveraging the notion of the $\delta$-input-to-state stability (ISS) control Lyapunov function, we derive a sufficient condition to generate a communication scheduling, such that the resulting state trajectory guarantees reachability and safety. Moreover, in order to alleviate computational burden, we present a way to find a suitable communication scheduling by implementing abstraction schemes and standard graph search methodologies. Simulation examples validate the effectiveness of the proposed approach.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2020. Vol. 65, no 2, p. 561-576
Keywords [en]
Constrained control, event and self-triggered control, reachability and safety
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-268796DOI: 10.1109/TAC.2019.2910947ISI: 000510754000008Scopus ID: 2-s2.0-85079779146OAI: oai:DiVA.org:kth-268796DiVA, id: diva2:1395195
Note

QC 20200221

Available from: 2020-02-21 Created: 2020-02-21 Last updated: 2020-05-25Bibliographically approved

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Dimarogonas, Dimos V.

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