Controller synthesis for safety and reachability via approximate bisimulation
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Abstract: In this paper, we consider the problem of controller design using approximately bisimilar abstractions with an emphasis on safety and reachability specifications. We propose abstraction-based approaches to solve both classes of problems. We start by synthesizing a controller for an approximately bisimilar abstraction. Then, using a concretization procedure, we obtain a controller for our initial system that is proved "correct by design". We provide guarantees of performance by giving estimates of the distance of the synthesized controller to the maximal (i.e the most permissive) safety controller or to the time-optimal reachability controller. Finally, we use the presented techniques combined with discrete approximately bisimilar abstractions of switched systems developed recently, for switching controller synthesis.
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Cited in
(23)- Set-based control for disturbed piecewise affine systems with state and actuation constraints
- Falsification of combined invariance and reachability specifications in hybrid control systems
- Least-violating symbolic controller synthesis for safety, reachability and attractivity specifications
- Backstepping controller synthesis and characterizations of incremental stability
- Optimal mixed discrete-continuous planning for linear hybrid systems
- Switching controller synthesis for delay hybrid systems under perturbations
- Robust approximate symbolic models for a class of continuous-time uncertain nonlinear systems via a control interface
- Synthesis of switching controllers using approximately bisimilar multiscale abstractions
- Symbolic control design of nonlinear systems with outputs
- Controller synthesis for bisimulation equivalence
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- Approximate bisimulation: a bridge between computer science and control theory
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- Low-complexity quantized switching controllers using approximate bisimulation
- Automated generation of hybrid automata for multi-rigid-body mechanical systems and its application to the falsification of safety properties
- Model-order reduction of ion channel dynamics using approximate bisimulation
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- Synthesis using approximately bisimilar abstractions, state-feedback controllers for safety specifications
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- Flow functions, control flow functions, and the reach control problem
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