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Synthesis of Reactive Control Protocols for Differentially Flat Systems
Abstract We propose a procedure for the synthesis o …
We propose a procedure for the synthesis of con- trol protocols for systems governed by nonlinear differential equations and constrained by temporal logic specifications. This procedure relies on a particular finite-state abstraction of the un- derlying continuous dynamics and a discrete representation of the external environmental signals. A two-player game formulation provides computationally efficient means to construct a discrete strategy based on the finite-state model. We focus on systems with differentially flat outputs, which, in a straightforward manner, allows the construction of continuous control signals from the discrete transitions dictated by the discrete strategy. The resulting continuous-time output trajectories are provably guaranteed to robustly satisfy the original specifications.
ustly satisfy the original specifications.  +
Authors Jun Liu, Ufuk Topcu, Necmiye Ozay, and Richard M. Murray  +
Funding Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems +
ID 2012c  +
Source 2012 Conference on Decision and Control (CDC)  +
Tag ltom12-cdc  +
Title Synthesis of Reactive Control Protocols for Differentially Flat Systems +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:15:51  +
URL
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http://www.cds.caltech.edu/~murray/preprints/ltom12-cdc_s.pdf  +
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Synthesis of Reactive Control Protocols for Differentially Flat Systems + Title
 

 

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