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StrategyDriven Partitioning into Switching Modes for PiecewiseAffine Systems with Continuous Environments 
Abstract 
We propose a methodology for abstracting d … We propose a methodology for abstracting discretetime piecewiseaffine systems influenced by additive continuous environment variables, to synthesize correctbyconstruction controllers from linear temporal logic specifications. The proposed algorithm partitions the environment domain into polytopes, considered as modes controlled by the environment. In each mode the environment variable is treated as a bounded disturbance for the system. Mode polytopes are iteratively enlarged while a strategy isomorphism between successive system partitions can be constructed. Isomorphisms are obtained by solving the stable marriage problem after proving that our case admits a unique solution. This leads to mapping highlevel symbolic variables to equivalence classes of polytopes, instead of single polytopes as in other works. We thus avoid the need to merge partitions, which can create sliver polytopes, causing numerical problems during reachability computations. The approach enables using the same strategy over partitions that have an isomorphic subgraph relevant to the strategy. Reachability checks between neighboring partitions are used to reduce nondeterminism introduced by switching and allow continuous restoration of discrete state. If bifurca tions occur that prevent strategy reuse, then switched system game synthesis is performed, and a logic modeling formalism proposed that avoids trivial cyclic counterexamples. hat avoids trivial cyclic counterexamples. +


Authors  Ioannis Filippidis and Richard M. Murray + 
ID  2014d + 
Source  Submitted, 2014 Conference on Decision and Control (CDC) + 
Tag  fm14cdc + 
Title  StrategyDriven Partitioning into Switching Modes for PiecewiseAffine Systems with Continuous Environments + 
Type  Conference Paper + 
Categories  Papers 
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15 May 2016 06:14:55 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/fm14cdc_s.pdf + 
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StrategyDriven Partitioning into Switching Modes for PiecewiseAffine Systems with Continuous Environments +  Title 
