Supervisory control of differentially flat systems based on abstraction
The limiting factor in most implementations of safety enforcing controllers is the model's complexity, and a common work-around includes the abstraction of the physical model, based on differential equations, to a finite symbolic model. We exploit the specific structure of a class of systems (t...
| Principais autores: | , |
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| Formato: | Artigo |
| Idioma: | en_US |
| Publicado em: |
Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Acesso em linha: | http://hdl.handle.net/1721.1/78351 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1826214155153047552 |
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| author | Colombo, Alessandro Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Colombo, Alessandro Del Vecchio, Domitilla |
| author_sort | Colombo, Alessandro |
| collection | MIT |
| description | The limiting factor in most implementations of safety enforcing controllers is the model's complexity, and a common work-around includes the abstraction of the physical model, based on differential equations, to a finite symbolic model. We exploit the specific structure of a class of systems (the differentially flat systems) to perform the abstraction. The objective is to construct a supervisor enforcing a set of safety rules, while imposing as little constraints as possible on the system's functionality. An example - a collision avoidance algorithm for a fleet of vehicles converging to an intersection - is presented. Our approach improves on previous results by providing a deterministic symbolic model irrespective of the stability properties of a system, and by addressing explicitly the problem of enforcing safety. |
| first_indexed | 2024-09-23T16:00:22Z |
| format | Article |
| id | mit-1721.1/78351 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:00:22Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/783512022-10-02T05:41:25Z Supervisory control of differentially flat systems based on abstraction Colombo, Alessandro Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Colombo, Alessandro Del Vecchio, Domitilla The limiting factor in most implementations of safety enforcing controllers is the model's complexity, and a common work-around includes the abstraction of the physical model, based on differential equations, to a finite symbolic model. We exploit the specific structure of a class of systems (the differentially flat systems) to perform the abstraction. The objective is to construct a supervisor enforcing a set of safety rules, while imposing as little constraints as possible on the system's functionality. An example - a collision avoidance algorithm for a fleet of vehicles converging to an intersection - is presented. Our approach improves on previous results by providing a deterministic symbolic model irrespective of the stability properties of a system, and by addressing explicitly the problem of enforcing safety. National Science Foundation (U.S.) (Award CNS 0930081) 2013-04-11T18:02:18Z 2013-04-11T18:02:18Z 2011-12 Article http://purl.org/eprint/type/ConferencePaper 978-1-61284-799-3 978-1-61284-800-6 0743-1546 http://hdl.handle.net/1721.1/78351 Colombo, Alessandro, and Domitilla Del Vecchio. “Supervisory Control of Differentially Flat Systems Based on Abstraction.” IEEE, 2011. 6134–6139. https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1109/CDC.2011.6160759 Proceedins of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), 2011 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 (IEEE) MIT web domain |
| spellingShingle | Colombo, Alessandro Del Vecchio, Domitilla Supervisory control of differentially flat systems based on abstraction |
| title | Supervisory control of differentially flat systems based on abstraction |
| title_full | Supervisory control of differentially flat systems based on abstraction |
| title_fullStr | Supervisory control of differentially flat systems based on abstraction |
| title_full_unstemmed | Supervisory control of differentially flat systems based on abstraction |
| title_short | Supervisory control of differentially flat systems based on abstraction |
| title_sort | supervisory control of differentially flat systems based on abstraction |
| url | http://hdl.handle.net/1721.1/78351 https://orcid.org/0000-0001-6472-8576 |
| work_keys_str_mv | AT colomboalessandro supervisorycontrolofdifferentiallyflatsystemsbasedonabstraction AT delvecchiodomitilla supervisorycontrolofdifferentiallyflatsystemsbasedonabstraction |