Abstracting Partially Feedback Linearizable Systems Compositionally
Abstracting Partially Feedback Linearizable Systems Compositionally
复制标题
组合地抽象部分反馈线性化系统
DOI：
10.1109/lcsys.2017.2713461
复制
发表时间：
2017
影响因子：
3
通讯作者：
P. Tabuada
中科院分区：
文献类型：
--
作者：
Omar Hussien;A. Ames;P. Tabuada
符号控制器综合提供了设计控制器的能力，这些控制器强制执行一类丰富的规范，例如那些可用时态逻辑表达的规范。尽管符号控制器综合和按设计修正的控制软件有望实现，但由于为连续大系统构造有限状态抽象的复杂性，这种设计方法尚未得到广泛应用。在这封信中，我们研究了一种通过利用部分反馈线性化系统的级联结构来构造抽象的组合方法。我们展示了如何将线性化部分和零动态独立抽象并随后组合以获得原始连续系统的抽象。我们还通过示例说明了这种组合方法如何显著减少了构建抽象所需的时间。
Symbolic controller synthesis offers the ability to design controllers enforcing a rich class of specifications such as those expressible in temporal logic. Despite the promise of symbolic controller synthesis and correct-by-design control software, this design methodology is not yet widely applicable due to the complexity of constructing finite-state abstractions for large continuous systems. In this letter, we investigate a compositional approach to the construction of abstractions by exploiting the cascading structure of partially feedback linearizable systems. We show how the linearized part and the zero dynamics can be independently abstracted and subsequently composed to obtain an abstraction of the original continuous system. We also illustrate through examples how this compositional approach significantly reduces the time required for construction of abstractions.