TY - GEN
T1 - Fast and guaranteed safe controller synthesis for aerial vehicle models
AU - Fan, Chuchu
AU - Miller, Kristina
AU - Sun, Dawei
AU - Mitra, Sayan
N1 - Publisher Copyright:
© 2021, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2021
Y1 - 2021
N2 - We address the problem of synthesizing a controller for nonlinear aerial vehicle models with reach-avoid requirements. Our controller consists of a reference controller and a tracking controller which drives the actual trajectory to follow the reference trajectory or waypoints. We employ a machine learning-based framework to learn a tracking controller that can track any reference trajectory and simultaneously learn a tracking certificate such that the tracking error between the actual trajectory of the closed-loop system and the reference trajectory can be bounded. Moreover, such a bound on the tracking error is independent of the reference trajectory. Using such bounds on the tracking error, we propose a method that can find a reference trajectory by solving a satisfiability problem over linear constraints. Our overall algorithm guarantees that the resulting controller can make sure every trajectory from the initial set of the aerial vehicle satisfies the given reach-avoid requirement.
AB - We address the problem of synthesizing a controller for nonlinear aerial vehicle models with reach-avoid requirements. Our controller consists of a reference controller and a tracking controller which drives the actual trajectory to follow the reference trajectory or waypoints. We employ a machine learning-based framework to learn a tracking controller that can track any reference trajectory and simultaneously learn a tracking certificate such that the tracking error between the actual trajectory of the closed-loop system and the reference trajectory can be bounded. Moreover, such a bound on the tracking error is independent of the reference trajectory. Using such bounds on the tracking error, we propose a method that can find a reference trajectory by solving a satisfiability problem over linear constraints. Our overall algorithm guarantees that the resulting controller can make sure every trajectory from the initial set of the aerial vehicle satisfies the given reach-avoid requirement.
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M3 - Conference contribution
AN - SCOPUS:85100302001
SN - 9781624106095
T3 - AIAA Scitech 2021 Forum
SP - 1
EP - 8
BT - AIAA Scitech 2021 Forum
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021
Y2 - 11 January 2021 through 15 January 2021
ER -