Supervisory control of differentially flat systems based on abstraction
The limiting factor in most implementations of safety enforcing controllers is the model's complexity, and a common work-around includes the abstraction of the physical model, based on differential equations, to a finite symbolic model. We exploit the specific structure of a class of systems (t...
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| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2013-04-11T18:02:18Z.
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| Subjects: | |
| Online Access: | Get fulltext |
| Summary: | The limiting factor in most implementations of safety enforcing controllers is the model's complexity, and a common work-around includes the abstraction of the physical model, based on differential equations, to a finite symbolic model. We exploit the specific structure of a class of systems (the differentially flat systems) to perform the abstraction. The objective is to construct a supervisor enforcing a set of safety rules, while imposing as little constraints as possible on the system's functionality. An example - a collision avoidance algorithm for a fleet of vehicles converging to an intersection - is presented. Our approach improves on previous results by providing a deterministic symbolic model irrespective of the stability properties of a system, and by addressing explicitly the problem of enforcing safety. National Science Foundation (U.S.) (Award CNS 0930081) |
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