2018/09/26 by Alexandros Nikou, Dimos V. Dimarogonas, Nikou, Alexandros +1
Computer Science · Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #FOS: Mathematics #Formal Methods in Verification #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1809.09825
openalex publication_date 2018/09/26 · openalex created_date 2022/08/02 · openalex updated_date 2026/07/28
This paper deals with the problem of time-constrained navigation of a robot\nmodeled by uncertain nonlinear non-affine dynamics in a bounded workspace of\n\ℝn. Initially, we provide a novel class of robust feedback\ncontrollers that drive the robot between Regions of Interest (RoI) of the\nworkspace. The control laws consists of two parts: an on-line controller which\nis the outcome of a Finite Horizon Optimal Control Problem (FHOCP); and a\nbackstepping feedback law which is tuned off-line and guarantees that the real\ntrajectory always remains in a bounded hyper-tube centered along the nominal\ntrajectory of the robot. The proposed controller falls within the so-called\ntube-based Nonlinear Model Predictive control (NMPC) methodology. Then, given a\ndesired high-level specification for the robot in Metric Interval Temporal\nLogic (MITL), by utilizing the aforementioned controllers, a framework that\nprovably guarantees the satisfaction of the formula is provided. The proposed\nframework can handle the rich expressiveness of MITL in both safety and\nreachability specifications. Finally, the proposed framework is validated by\nnumerical simulations.\n