Best-Effort Safety Control of Multi-mode Systems

Abstract We consider the problem of controlling a multi-mode system with respect to a safety goal in the Filippov sliding-mode semantics. When the goal can be enforced, we present a symbolic algorithm that enhances the previously known solution. When the goal cannot be enforced, we compare different natural best-effort criteria, identify the most promising one, and design a symbolic algorithm that synthesizes the corresponding myopically optimal control policy. We prove that the synthesized policy enjoys a regularity property known as a tame topology .