Design of Hybrid Supervisors for High Level Control

我们认为，在这种情况下，监督员被用作高级控制器，并对混合控制的基本性质进行调查。主要结果如下：·我们提出了一种使用Petri Nets进行离散近似连续系统的方法。Moreover，我们修改了一个在混合Petri Nets中启用弱的强制规则，这样行为就可以保证弱启用的过渡是定义良好的。我们展示了一些在部分观察下存在的有限状态监督员的必要和有效的条件。Moreover，我们提出了一种在线监督控制方法，并提出了由监督系统生成的语言是一种最大的可控制和可观察的亚语言。我们为可靠的分散管理人员的存在展示了必要和有效的条件。我们还提出了一种由Petri Nets建模的系统故障检测方法。我们提出了一个在混合系统中通过一个开关流模型建模来消除混乱的开关策略。我们用混合细胞映射模型为一类混合系统提供了一个Lyapunov理论。Moreover，我们对复合混合系统使用多个Lyapunov功能的稳定性进行了调查。我们开发了一个由多个模型或一个模型集描述的植物的层次结构控制体系结构。我们也通过调谐时间变化参数适当地捕捉到估计植物的不确定参数的数目。

We consider the case that supervisors are used as high level controllers, and investigate fundamental properties for hybrid control. The main results are as follows :・We proposed a method for discrete approximation of continuous systems using Petri nets. Moreover, we modified a firing rule of weak enabling in hybrid Petri nets so that behaviors for circles consisting of weakly enabled transitions are well-defined.・We showed a necessary and sufficient condition for the existence of finite-state supervisors under partial observations. Moreover, we proposed an on-line supervisory control method, and proved that the language generated by the supervised system is a maximal controllable and observable sublanguage.・We showed a necessary and sufficient condition for the existence of reliable decentralized supervisors. We also proposed a fault detection method for systems modeled by Petri nets.・We proposed a switching strategy for eliminating chaos in a hybrid system modeled by a switched flow model.・We proved a Lyapunov theorem for a class of hybrid systems modeled by a mixed cell mapping. Moreover, we investigated stability in composite hybrid systems using multiple Lyapunov functions.・We developed hierarchical control architecture for plants described by multiple models or a model set. We also improved closed-loop response by tuning time-varying parameters adaptively according to estimation of uncertain parameters of the plants