Hierarchical Synthesis of Hybrid Controllers from Temporal Logic Specifications
Hierarchical Synthesis of Hybrid Controllers from Temporal Logic Specifications
复制标题
根据时间逻辑规范分层综合混合控制器
DOI：
10.1007/978-3-540-71493-4_18
复制
发表时间：
2007
影响因子：
7.8
通讯作者：
George Pappas
中科院分区：
文献类型：
--
作者：
Georgios Fainekos;A. Girard;George Pappas
本文考虑了一个表示为时序逻辑公式φ的规范的混合控制器的综合问题。我们提出了一个分层的方法，包括三个步骤。首先，被控对象被抽象为一个完全驱动的系统。使用近似模拟关系的概念，我们设计了一个连续的接口，允许植物以保证精度δ跟踪其抽象的轨迹。第二步，这也是本文的主要贡献，包括从时序逻辑公式φ导出更鲁棒的规范φ′，使得给定满足φ′的轨迹，距离δ内的任何其他轨迹都满足φ。第三，我们设计了一个混合控制器的抽象，使其所有的轨迹满足鲁棒规范φ′。然后，植物的轨迹满足原始规范。被认为是在多边形环境中的平面机器人的二阶模型的控制的应用。
In this paper, the problem of synthesizing a hybrid controller for a specification expressed as a temporal logic formula φ is considered. We propose a hierarchical approach which consists of three steps. First, the plant to be controlled is abstracted to a fully actuated system. Using the notion of approximate simulation relation, we design a continuous interface allowing the plant to track the trajectories of its abstraction with a guaranteed precision δ. The second step, which is also the main contribution of this paper, consists in deriving a more robust specification φ′ from the temporal logic formula φ such that given a trajectory satisfying φ′, any other trajectory remaining within distance δ satisfies φ. Third, we design a hybrid controller for the abstraction such that all its trajectories satisfy the robust specification φ′. Then, the trajectories of the plant satisfy the original specification. An application to the control of a second order model of a planar robot in a polygonal environment is considered.