Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle

Tichakorn Wongpiromsarn, Sayan Mitra, Richard M Murray, Andrew Lamperski
Hybrid Systems: Computation and Control, 2009 (submitted)

This paper introduces Periodically Controlled Hybrid Automata (PCHA) for describing a class of hybrid control systems. In a PCHA, control actions occur roughly periodically while internal and input actions, may occur in the interim changing the discrete-state or the setpoint. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariance of PCHAs is presented. This technique is used in verifying safety of the planner-controller subsystem of an autonomous ground vehicle, and in deriving geometric properties of planner generated paths that can be followed safely by the controller under environmental uncertainties.

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