Fast and Guaranteed Safe Controller Synthesis for Nonlinear Vehicle Models

Chuchu Fan, Kristina Miller, Sayan Mitra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We address the problem of synthesizing a controller for nonlinear systems 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. We identify a type of reference trajectory 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 system satisfies the given reach-avoid requirement. We also implement our technique in a tool FACTEST. We show that FACTEST can find controllers for four vehicle models (3–6 dimensional state space and 2–4 dimensional input space) across eight scenarios (with up to 22 obstacles), all with running time at the sub-second range.

Original languageEnglish (US)
Title of host publicationComputer Aided Verification - 32nd International Conference, CAV 2020, Proceedings
EditorsShuvendu K. Lahiri, Chao Wang
PublisherSpringer
Pages629-652
Number of pages24
ISBN (Print)9783030532871
DOIs
StatePublished - 2020
Event32nd International Conference on Computer Aided Verification, CAV 2020 - Los Angeles, United States
Duration: Jul 21 2020Jul 24 2020

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12224 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference32nd International Conference on Computer Aided Verification, CAV 2020
CountryUnited States
CityLos Angeles
Period7/21/207/24/20

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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