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 language | English (US) |
|---|---|
| Title of host publication | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
| Pages | 203-216 |
| Number of pages | 14 |
| Volume | 4416 LNCS |
| State | Published - 2007 |
| Externally published | Yes |
| Event | 10th International Conference on Hybrid Systems: Computation and Control, HSCC 2007 - Pisa, Italy Duration: Apr 3 2007 → Apr 5 2007 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Volume | 4416 LNCS |
| ISSN (Print) | 03029743 |
| ISSN (Electronic) | 16113349 |
Other
| Other | 10th International Conference on Hybrid Systems: Computation and Control, HSCC 2007 |
|---|---|
| Country | Italy |
| City | Pisa |
| Period | 4/3/07 → 4/5/07 |
Fingerprint
ASJC Scopus subject areas
- Computer Science(all)
- Biochemistry, Genetics and Molecular Biology(all)
- Theoretical Computer Science
Cite this
Hierarchical synthesis of hybrid controllers from temporal logic specifications. / Fainekos, Georgios; Girard, Antoine; Pappas, George J.
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 4416 LNCS 2007. p. 203-216 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4416 LNCS).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Hierarchical synthesis of hybrid controllers from temporal logic specifications
AU - Fainekos, Georgios
AU - Girard, Antoine
AU - Pappas, George J.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=38049104000&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=38049104000&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:38049104000
SN - 9783540714927
VL - 4416 LNCS
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 203
EP - 216
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ER -