Closed-loop incremental stability for efficient symbolic control of non-linear systems
| Autor: | Jana Tumova, Pouria Tajvar, Pierre-Jean Meyer |
|---|---|
| Přispěvatelé: | Department of Mathematics (KTH Royal Institute of Technology), Royal Institute of Technology [Stockholm] (KTH ), Évaluation des Systèmes de Transports Automatisés et de leur Sécurité (COSYS-ESTAS ), Université de Lille-Université Gustave Eiffel |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Discretization DISCRETISATION Computer science REACHABILITY ANALYSIS CONTROLE COMMANDE Stability (learning theory) 02 engineering and technology STABILITY AND STABILIZATION OF HYBRID SYSTEMS 020901 industrial engineering & automation 0203 mechanical engineering SURETE DE FONCTIONNEMENT Reachability Control theory Reglerteknik ALGORITHME Temporal logic SYSTEME DE COMMANDE Abstraction (linguistics) [INFO.INFO-SC]Computer Science [cs]/Symbolic Computation [cs.SC] 020301 aerospace & aeronautics Construct (python library) Dissipation Control Engineering SYSTEME NON LINEAIRE RETROACTION Nonlinear system Control and Systems Engineering SIMULATION |
| Zdroj: | 7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021 7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021, Jul 2021, Bruxelles, Belgium. pp121-126, ⟨10.1016/j.ifacol.2021.08.485⟩ ADHS |
| Popis: | 7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021, Bruxelles, BELGIQUE, 07-/07/2021 - 09/07/2021; In this paper, we introduce a hybridization-based feedback control synthesis method for potentially unstable nonlinear continuous-time systems. We construct a discretization and feedback control that ensures dissipation form of incremental input-to-state stability property that a number of abstraction-based control methods rely on or benefit from. This enables the use of these methods also for the case of potentially unstable systems, to achieve a reachability or a temporal logic specification. We furthermore show that the algorithm can also improve abstraction-based methods that do not rely on stability assumptions by reducing the number of constructed abstract states and non-deterministic transitions. We illustrate the benefits of our approach in simulations featuring a cart-pendulum. |
| Databáze: | OpenAIRE |
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