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arXiv · 2006.03862

Approximately Optimal Controllers for Quantitative Two-Phase Reach-Avoid Problems on Nonlinear Systems

Alexander Weber·Alexander Knoll
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Abstract

The present work deals with quantitative two-phase reach-avoid problems on nonlinear control systems. This class of optimal control problem requires the plant's state to visit two (rather than one) target sets in succession while minimizing a prescribed cost functional. As we illustrate, the naive approach, which subdivides the problem into the two evident classical reach-avoid tasks, usually does not result in an optimal solution. In contrast, we prove that an optimal controller is obtained by consecutively solving two special quantitative reach-avoid problems. In addition, we present a fully-automated method based on Symbolic Optimal Control to practically synthesize for the considered problem class approximately optimal controllers for sampled-data nonlinear plants. Experimental results on parcel delivery and on an aircraft routing mission confirm the practicality of our method.

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BibTeXRIS

Alexander Weber, Alexander Knoll. 2020-06-06. Approximately Optimal Controllers for Quantitative Two-Phase Reach-Avoid Problems on Nonlinear Systems. https://doi.org/10.1109/cdc42340.2020.9304048

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