Reach-avoid Controllers Synthesis for Safety Critical Systems

Understand

In this paper we propose sufficient conditions to synthesizing reach-avoid controllers for deterministic systems modelled by ordinary differential equations and stochastic systems modeled by stochastic differential equations based on the notion of control guidance-barrier functions.

• We begin with considering deterministic systems.
• Given an open safe set, a target set and a nominal controller, we attempt to synthesize a reach-avoid controller, which modifies the nominal controller in a minimal way enforcing the reach-avoid objective, i.e., the system will enter the target set eventually while staying inside the safe set before the first target hitting time.
• Three control guidance-barrier functions are developed and three corresponding conditions for synthesizing reach-avoid controllers are constructed, which get progressively weaker and thus facilitate the optimal controller design.