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Fast and Guaranteed Safe Controller Synthesis for Nonlinear Vehicle Models
[chapter]
2020
Lecture Notes in Computer Science
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
doi:10.1007/978-3-030-53288-8_31
fatcat:oqr7zo5iz5dxda6rc64qkpygey