Computing controllers for nonlinear hybrid systems

DOI10.1007/3-540-48983-5_22MaRDI QIDQ4249576zbMATH OpenFDO

Authors Claire Tomlin, John Lygeros, S. Shankar Sastry

Publication date 2 January 2001

Published in Lecture Notes in Computer Science (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/3-540-48983-5_22

zbMATH Keywords

controlled invariant setshybrid automatonhybrid/discrete-continuous systemsReach-Avoid setzero-sum game

Mathematics Subject Classification ID

Attainable sets, reachability (93B03) Variable structure systems (93B12) Nonlinear systems in control theory (93C10) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Review text

This paper deals with the problem of synthesizing controllers that meet safety specifications for nonlinear hybrid systems. Specifically, a procedure is discussed which depends on the construction of the set of states that can be driven to a subset of the state space, avoiding another subset of the state space (the Reach-Avoid set). A new characterization of the Reach-Avoid set in terms of the solutions of a pair of coupled Hamilton-Jacobi partial differential equations is presented. These H-J PDEs are obtained by formulating the problem as a 2-player, zero-sum game, between a controller that tries to ensure that the safety specification is satisfied and a disturbance that tries to violate the safety specification. The paper proposes a numerical scheme for solving these PDEs. For the entire collection see [Zbl 0911.00057].

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Cited in

(13)

• On approximate controllability of multi-term time fractional measure differential equations with nonlocal conditions
• Measures of noncompactness in spaces of regulated functions with application to semilinear measure driven equations
• Viability, viscosity, and storage functions in model-predictive control with terminal constraints
• Computational tools for the safety control of a class of piecewise continuous systems with imperfect information on a partial order
• CGMurphi: automatic synthesis of numerical controllers for nonlinear hybrid systems
• Controller synthesis for hybrid systems with a lower bound on event separation
• Level set methods for computation in hybrid systems
• Computation of avoidance regions for driver assistance systems by using a Hamilton-Jacobi approach
• Efficient choice of parameters on delta-reachability bounded hybrid systems
• Hybrid online learning control in networked multiagent systems: A survey
• Lyapunov-barrier characterization of robust reach-avoid-stay specifications for hybrid systems
• Decoding Output Sequences for Discrete-Time Linear Hybrid Systems.
• Design of smooth hybrid controllers for a class of non-linear systems

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