Stability analysis of planar probabilistic piecewise constant derivative systems
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Publication:6160779
Applications of Markov chains and discrete-time Markov processes on general state spaces (social mobility, learning theory, industrial processes, etc.) (60J20) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Discrete-time control/observation systems (93C55) Stochastic stability in control theory (93E15)
Abstract: In this paper, we study the probabilistic stability analysis of a subclass of stochastic hybrid systems, called the Planar Probabilistic Piecewise Constant Derivative Systems (Planar PPCD), where the continuous dynamics is deterministic, constant rate and planar, the discrete switching between the modes is probabilistic and happens at boundary of the invariant regions, and the continuous states are not reset during switching. These aptly model piecewise linear behaviors of planar robots. Our main result is an exact algorithm for deciding absolute and almost sure stability of Planar PPCD under some mild assumptions on mutual reachability between the states and the presence of non-zero probability self-loops. Our main idea is to reduce the stability problems on planar PPCD into corresponding problems on Discrete Time Markov Chains with edge weights.
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