Synthesis of safety controllers robust to unmodeled intermittent disturbances
Synthesis of safety controllers robust to unmodeled intermittent disturbances
复制标题
对未建模的间歇性干扰具有鲁棒性的安全控制器的综合
DOI：
10.1109/cdc.2016.7799416
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
P. Tabuada
中科院分区：
文献类型：
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作者：
E. Dallal;D. Neider;P. Tabuada
强制安全属性的控制器综合是一个众所周知的问题，我们对此拥有实用的算法和深入的理论理解。该问题通常被表述为寻求强制执行安全属性的控制器与寻求违反安全属性的环境之间的博弈。这些游戏的解决方案由获胜集给出：在获胜集内，控制器可以强制执行所需的属性，只要它选择迫使系统保持在获胜集内的众多输入之一；在获胜集之外，环境可以独立于控制器的操作而违反获胜属性。在本文中，我们回答以下两个问题：（1）在获胜集内控制器可用的几个输入中，是否有比其他输入“更好”的输入？ （2）当状态不在获胜集之外时，控制器应该做什么？在回答这些问题时，我们的愿望是对未建模的间歇性干扰具有鲁棒性。
The synthesis of controllers enforcing safety properties is a well understood problem for which we have practical algorithms as well as a deep theoretical understanding. This problem is typically formulated as game between the controller seeking to enforce the safety property and the environment seeking to violate it. The solution of these games is given by a winning set: inside the winning set the controller can enforce the desired property as long as it chooses one of the many inputs that forces the system to remain inside the winning set; outside the winning set the environment can violate the winning property independently of the controller's actions. In this paper we answer the following two questions: (1) Among the several inputs available to the controller inside the winning set, are there inputs that are “better” than others? (2) What should the controller do when the state is outside the winning set? In answering these questions we are guided by a desire to be robust to unmodeled intermittent disturbances.