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This study focuses on synthesizing controllers for unknown dynamics control-affine nonlinear systems, aiming to satisfy reach-avoid-stay (RAS) specifications within prescribed-time. The main objective is to derive a closed-form control law, incorporating a novel notion of spatiotemporal tubes, to guarantee that the system trajectories reach a designated target set while avoiding an unsafe set and adhering to state constraints. The efficacy of this approach is demonstrated through simulation.
Das et al. (Thu,) studied this question.