Controller Synthesis for Linear System With Reach-Avoid Specifications

Abstract

We address the problem of synthesizing provably correct controllers for linear systems with reach-avoid specifications. Our solution decomposes the overall synthesis problem into two smaller, and more tractable problems: one synthesis problem for an open-loop controller which can produce a reference trajectory, and a second for synthesizing a tracking controller, which can enforce the other trajectories to follow the reference trajectory. As a key building-block result, we show that these two controllers can be synthesized independently. Moreover, we are able to reduce the problem of synthesizing open-loop controllers to satisfiability problems over quantifier-free linear real arithmetic, with the number of constraints linear to the number of hyperplanes as the surfaces of the polytopic obstacles and goal sets. The overall synthesis algorithm computes a tracking controller, and then iteratively covers the entire initial set to find open-loop controllers for initial neighborhoods. The algorithm is sound and, for a class of robust systems, is also complete. We implement this synthesis algorithm in a tool and show promising results on several benchmarks with up to 20