Hierarchical synthesis of hybrid controllers from temporal logic specifications

Georgios E. Fainekos, Antoine Girard, George J. Pappas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations

Abstract

In this paper, the problem of synthesizing a hybrid controller for a specification expressed as a temporal logic formula ø is considered. We propose a hierarchical approach which consists of three steps. First, the plant to be controlled is abstracted to a fully actuated system. Using the notion of approximate simulation relation, we design a continuous interface allowing the plant to track the trajectories of its abstraction with a guaranteed precision δ. The second step, which is also the main contribution of this paper, consists in deriving a more robust specification ø from the temporal logic formula ø such that given a trajectory satisfying ø′ any other trajectory remaining within distance S satisfies ø. Third, we design a hybrid controller for the abstraction such that all its trajectories satisfy the robust specification ø′. Then, the trajectories of the plant satisfy the original specification. An application to the control of a second order model of a planar robot in a polygonal environment is considered.

Original languageEnglish (US)
Title of host publicationHybrid Systems
Subtitle of host publicationComputation and Control - 10th International Conference, HSCC 2007, Proceedings
PublisherSpringer Verlag
Pages203-216
Number of pages14
ISBN (Print)9783540714927
StatePublished - Jan 1 2007
Externally publishedYes
Event10th International Conference on Hybrid Systems: Computation and Control, HSCC 2007 - Pisa, Italy
Duration: Apr 3 2007Apr 5 2007

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4416 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other10th International Conference on Hybrid Systems: Computation and Control, HSCC 2007
CountryItaly
CityPisa
Period4/3/074/5/07

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Fainekos, G. E., Girard, A., & Pappas, G. J. (2007). Hierarchical synthesis of hybrid controllers from temporal logic specifications. In Hybrid Systems: Computation and Control - 10th International Conference, HSCC 2007, Proceedings (pp. 203-216). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4416 LNCS). Springer Verlag.