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Robust stutter bisimulation for abstraction and controller synthesis with disturbance

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Název: Robust stutter bisimulation for abstraction and controller synthesis with disturbance
Autoři: Krook, Jonas, 1986, Malik, Robi, Mohajerani, Sahar, Fabian, Martin, 1960
Zdroj: Automatica. 160
Témata: Abstraction, Cyber-physical systems, Disturbances, Controller synthesis, Linear temporal logic
Popis: This paper proposes a method to synthesise controllers for cyber-physical systems subjected to disturbances, such that the controlled system satisfies specifications given as linear temporal logic formulas. To solve this problem, a finite-state abstraction of the original system is first constructed, and then a controller is synthesised for the abstraction. Due to the disturbances and uncertainty in the environment, future states cannot be predicted exactly, and the abstraction must take this into account. For this purpose, the robust stutter bisimulation relation is introduced, which preserves the existence of controllers for any given linear temporal logic formula that excludes the next operator. States are related by the robust stutter bisimulation relation if the same target sets can be guaranteed to be reached or avoided under control of some controller, thus ensuring that disturbances have similar effect on paths that start in related states. It is shown that there exists a controller enforcing a linear temporal logic formula for the original system if and only if a controller exists for the abstracted system. The approach is illustrated by a robot navigation example.
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Přístupová URL adresa: https://research.chalmers.se/publication/539121
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Items – Name: Title
  Label: Title
  Group: Ti
  Data: Robust stutter bisimulation for abstraction and controller synthesis with disturbance
– Name: Author
  Label: Authors
  Group: Au
  Data: <searchLink fieldCode="AR" term="%22Krook%2C+Jonas%22">Krook, Jonas</searchLink>, 1986<br /><searchLink fieldCode="AR" term="%22Malik%2C+Robi%22">Malik, Robi</searchLink><br /><searchLink fieldCode="AR" term="%22Mohajerani%2C+Sahar%22">Mohajerani, Sahar</searchLink><br /><searchLink fieldCode="AR" term="%22Fabian%2C+Martin%22">Fabian, Martin</searchLink>, 1960
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  Data: <i>Automatica</i>. 160
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  Data: <searchLink fieldCode="DE" term="%22Abstraction%22">Abstraction</searchLink><br /><searchLink fieldCode="DE" term="%22Cyber-physical+systems%22">Cyber-physical systems</searchLink><br /><searchLink fieldCode="DE" term="%22Disturbances%22">Disturbances</searchLink><br /><searchLink fieldCode="DE" term="%22Controller+synthesis%22">Controller synthesis</searchLink><br /><searchLink fieldCode="DE" term="%22Linear+temporal+logic%22">Linear temporal logic</searchLink>
– Name: Abstract
  Label: Description
  Group: Ab
  Data: This paper proposes a method to synthesise controllers for cyber-physical systems subjected to disturbances, such that the controlled system satisfies specifications given as linear temporal logic formulas. To solve this problem, a finite-state abstraction of the original system is first constructed, and then a controller is synthesised for the abstraction. Due to the disturbances and uncertainty in the environment, future states cannot be predicted exactly, and the abstraction must take this into account. For this purpose, the robust stutter bisimulation relation is introduced, which preserves the existence of controllers for any given linear temporal logic formula that excludes the next operator. States are related by the robust stutter bisimulation relation if the same target sets can be guaranteed to be reached or avoided under control of some controller, thus ensuring that disturbances have similar effect on paths that start in related states. It is shown that there exists a controller enforcing a linear temporal logic formula for the original system if and only if a controller exists for the abstracted system. The approach is illustrated by a robot navigation example.
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        Value: 10.1016/j.automatica.2023.111394
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      – Text: English
    Subjects:
      – SubjectFull: Abstraction
        Type: general
      – SubjectFull: Cyber-physical systems
        Type: general
      – SubjectFull: Disturbances
        Type: general
      – SubjectFull: Controller synthesis
        Type: general
      – SubjectFull: Linear temporal logic
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      – TitleFull: Robust stutter bisimulation for abstraction and controller synthesis with disturbance
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              Y: 2024
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