Safety control of hidden mode hybrid systems
In this paper, we consider the safety control problem for hidden mode hybrid systems (HMHSs), which are a special class of hybrid automata in which the mode is not available for control. For these systems, safety control is a problem with imperfect state information. We tackle this problem by introd...
| প্রধান লেখক: | , |
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| অন্যান্য লেখক: | |
| বিন্যাস: | প্রবন্ধ |
| ভাষা: | en_US |
| প্রকাশিত: |
Institute of Electrical and Electronics Engineers
2013
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| অনলাইন ব্যবহার করুন: | http://hdl.handle.net/1721.1/78323 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1826199559751073792 |
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| author | Verma, Rajeev Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Verma, Rajeev Del Vecchio, Domitilla |
| author_sort | Verma, Rajeev |
| collection | MIT |
| description | In this paper, we consider the safety control problem for hidden mode hybrid systems (HMHSs), which are a special class of hybrid automata in which the mode is not available for control. For these systems, safety control is a problem with imperfect state information. We tackle this problem by introducing the notion of nondeterministic discrete information state and by translating the problem to one with perfect state information. The perfect state information control problem is obtained by constructing a new hybrid automaton, whose discrete state is an estimate of the HMHS mode and is, as such, available for control. This problem is solved by computing the capture set and the least restrictive control map for the new hybrid automaton. Sufficient conditions for the termination of the algorithm that computes the capture set are provided. Finally, we show that the solved perfect state information control problem is equivalent to the original problem with imperfect state information under suitable assumptions. We illustrate the application of the proposed technique to a collision avoidance problem between an autonomous vehicle and a human driven vehicle at a traffic intersection. |
| first_indexed | 2024-09-23T11:22:14Z |
| format | Article |
| id | mit-1721.1/78323 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:22:14Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/783232022-09-27T19:03:43Z Safety control of hidden mode hybrid systems Verma, Rajeev Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Del Vecchio, Domitilla In this paper, we consider the safety control problem for hidden mode hybrid systems (HMHSs), which are a special class of hybrid automata in which the mode is not available for control. For these systems, safety control is a problem with imperfect state information. We tackle this problem by introducing the notion of nondeterministic discrete information state and by translating the problem to one with perfect state information. The perfect state information control problem is obtained by constructing a new hybrid automaton, whose discrete state is an estimate of the HMHS mode and is, as such, available for control. This problem is solved by computing the capture set and the least restrictive control map for the new hybrid automaton. Sufficient conditions for the termination of the algorithm that computes the capture set are provided. Finally, we show that the solved perfect state information control problem is equivalent to the original problem with imperfect state information under suitable assumptions. We illustrate the application of the proposed technique to a collision avoidance problem between an autonomous vehicle and a human driven vehicle at a traffic intersection. National Science Foundation (U.S.) (NSF CAREER Award Number CNS-0642719) 2013-04-10T15:17:36Z 2013-04-10T15:17:36Z 2011-12 2010-10 Article http://purl.org/eprint/type/JournalArticle 0018-9286 INSPEC Accession Number: 12426117 http://hdl.handle.net/1721.1/78323 Verma, R., and Domitilla Del Vecchio. “Safety Control of Hidden Mode Hybrid Systems.” IEEE Transactions on Automatic Control 57.1 (2012): 62–77. CrossRef. Web. https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1109/TAC.2011.2150370 IEEE Transactions on Automatic Control Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Institute of Electrical and Electronics Engineers MIT web domain |
| spellingShingle | Verma, Rajeev Del Vecchio, Domitilla Safety control of hidden mode hybrid systems |
| title | Safety control of hidden mode hybrid systems |
| title_full | Safety control of hidden mode hybrid systems |
| title_fullStr | Safety control of hidden mode hybrid systems |
| title_full_unstemmed | Safety control of hidden mode hybrid systems |
| title_short | Safety control of hidden mode hybrid systems |
| title_sort | safety control of hidden mode hybrid systems |
| url | http://hdl.handle.net/1721.1/78323 https://orcid.org/0000-0001-6472-8576 |
| work_keys_str_mv | AT vermarajeev safetycontrolofhiddenmodehybridsystems AT delvecchiodomitilla safetycontrolofhiddenmodehybridsystems |