Synthesizing communication plans for reachability and safety specifications

2019/02/20 by Hashimoto, Kazumune, Dimarogonas, Dimos V. · 1 citation
#FOS: Mathematics #Optimization and Control (math.OC)

paper · doi:10.48550/arxiv.1902.07461

Abstract

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 towards 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 δ-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.

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