Lazy Symbolic Controller for Continuous-Time Systems Based on Safe Set Boundary Exploration

In this paper, we present an abstraction-based approach to robust safety controller synthesis for continuous-time nonlinear systems. To reduce the computational complexity associated with symbolic control approaches, develop a lazy algorithm, which iteratively explores states on boundary of controllable domain while avoiding exploration internal states, supposing that they are safely priory. A closed-loop original problem is then defined as follows: use abstract push system from state back towards interior, inner any admissible input valid. We compare proposed classical algorithm and illustrate advantages, in terms run-time memory efficiency, adaptive cruise problem.