A Symbolic Approach to Controlling Piecewise Affine Systems
| Authors | |
|---|---|
| Year of publication | 2010 |
| Type | Article in Proceedings |
| Conference | Proceedings of of the 49th IEEE Conference on Decision and Control (CDC) |
| MU Faculty or unit | |
| Citation | |
| Field | Informatics |
| Keywords | Automata; Game Theory; Hybrid Systems |
| Description | We present a computational framework for auto- matic synthesis of a feedback control strategy for a piecewise affine (PWA) system from a specification given as a Linear Temporal Logic (LTL) formula over an arbitrary set of linear predicates in its state variables. First, by defining partitions for its state and input spaces, we construct a finite abstraction of the PWA system in the form of a control transition system. Second, we develop an algorithm to generate a control strategy for the finite abstraction. While provably correct and robust to small perturbations in both state measurements and applied inputs, the overall procedure is conservative and expensive. The proposed algorithms have been implemented and are available for download. Illustrative examples are included. |
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