Synthesizing Communication Plans for Reachability and Safety Specifications

We propose control and communication strategies for nonlinear networked control systems subject to state and input constraints. The objective is to steer the state of the system toward a prescribed target set in finite time (reachability), while at the same time remaining inside a safety set for all time (safety). By leveraging the notion of the δ-input-to-state stability (ISS) control Lyapunov function, we derive a sufficient condition to generate a communication scheduling, such that the resulting state trajectory guarantees reachability and safety. Moreover, in order to alleviate computational burden, we present a way to find a suitable communication scheduling by implementing abstraction schemes and standard graph search methodologies. Simulation examples validate the effectiveness of the proposed approach.