Safe-by-Design Planner-Tracker Synthesis With Unmodeled Input Dynamics

The planner-tracker framework is a hierarchical control scheme wherein a motion plan is generated using a simplified model, and a tracking controller synthesized offline keeps the error between the true and simplified model trajectories small. This letter extends the planner-tracker framework to accommodate unmodeled input dynamics, described by integral quadratic constraints (IQCs). A sum-of-squares (SOS) program is formulated to search for the tracking controller and error bound, and the method is demonstrated on a vehicle obstacle avoidance example with input delay.