On synthesizing robust discrete controllers under modeling uncertainty
On synthesizing robust discrete controllers under modeling uncertainty
复制标题
建模不确定性下综合鲁棒离散控制器
DOI：
10.1145/2185632.2185648
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
R. Murray
中科院分区：
文献类型：
--
作者：
U. Topcu;N. Ozay;Jun Liu;R. Murray
我们研究了综合反应控制协议的鲁棒性，以保证系统在给定时间逻辑规范方面的正确性。我们考虑开放有限转换系统中由于未建模的转换而带来的不确定性。由此产生的鲁棒综合问题被表述为时间逻辑游戏。特别是，如果规范位于线性时序逻辑的所谓广义反应性 [1] 片段中，那么所产生的鲁棒综合问题中的增强规范也是如此。因此，鲁棒综合问题与名义综合问题属于同一复杂度类别，并且适用于多项式时间求解器。此外，我们还讨论了不同程度的不确定性对鲁棒可综合性影响的推理，并在简单的机器人运动规划场景中演示了结果。
We investigate the robustness of reactive control protocols synthesized to guarantee system's correctness with respect to given temporal logic specifications. We consider uncertainties in open finite transition systems due to unmodeled transitions. The resulting robust synthesis problem is formulated as a temporal logic game. In particular, if the specification is in the so-called generalized reactivity [1] fragment of linear temporal logic, so is the augmented specification in the resulting robust synthesis problem. Hence, the robust synthesis problem belongs to the same complexity class with the nominal synthesis problem, and is amenable to polynomial time solvers. Additionally, we discuss reasoning about the effects of different levels of uncertainties on robust synthesizability and demonstrate the results on a simple robot motion planning scenario.