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 $\delta$-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.

中文翻译：

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为可达性和安全规范综合通信计划

我们为受状态和输入约束的非线性网络控制系统提出了控制和通信策略。目标是在有限的时间内将系统的状态引导到指定的目标集（可达性），同时始终保持在安全装置内（安全）。通过利用概念$\delta$-输入到状态稳定性（ISS）控制李雅普诺夫函数，我们推导出一个充分条件来生成一个通信调度，这样得到的状态轨迹保证可达性和安全性。此外，为了减轻计算负担，我们提出了一种通过实现抽象方案和标准图搜索方法来找到合适的通信调度的方法。仿真实例验证了所提出方法的有效性。