Symbolic Models for Nonlinear Control Systems Without Stability Assumptions
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Publication:5352883
DOI10.1109/TAC.2011.2176409zbMATH Open1369.93002arXiv1002.0822OpenAlexW2169289043MaRDI QIDQ5352883FDOQ5352883
Authors: Majid Zamani, M. jun. Mazo, Giordano Pola, Paulo Tabuada 
Publication date: 8 September 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: Finite-state models of control systems were proposed by several researchers as a convenient mechanism to synthesize controllers enforcing complex specifications. Most techniques for the construction of such symbolic models have two main drawbacks: either they can only be applied to restrictive classes of systems, or they require the exact computation of reachable sets. In this paper, we propose a new abstraction technique that is applicable to any smooth control system as long as we are only interested in its behavior in a compact set. Moreover, the exact computation of reachable sets is not required. The effectiveness of the proposed results is illustrated by synthesizing a controller to steer a vehicle.
Full work available at URL: https://arxiv.org/abs/1002.0822
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- Tight reachability bounds for constrained nonlinear systems using mean value differential inequalities
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- First steps toward formal controller synthesis for bipedal robots with experimental implementation
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- Robust approximate symbolic models for a class of continuous-time uncertain nonlinear systems via a control interface
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- Finite abstraction of mixed monotone systems with discrete and continuous inputs
- OmegaThreads
- Optimal multirate sampling in symbolic models for incrementally stable switched systems
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