Contract-based Design of Symbolic Controllers for Safety in Distributed Multiperiodic Sampled-Data Systems

Adnane Saoud (1, 2) , Antoine Girard (2) , Laurent Fribourg (1, 3)

1 LSV - Laboratoire Spécification et Vérification
2 L2S - Laboratoire des signaux et systèmes
3 MEXICO - Modeling and Exploitation of Interaction and Concurrency

This paper presents a symbolic control approach to the design of distributed safety controllers for a class of continuous-time nonlinear systems. More precisely, we consider systems made of components where each component is equipped with a sampled-data controller with its own sampling period, resulting globally in a distributed multiperiodic sampled-data system. Moreover, controllers receive partial information on the state of the other components. We propose a component-based approach to controller synthesis, which relies on the use of abstractions and continuous-time assume-guarantee contracts. The abstractions describe the dynamics of the system from the point of view of each component based on the information structure, while assume-guarantee contracts specify guarantees that a component must satisfy if assumptions on the other components are met. We show that our approach makes it possible to decompose a global safety control problem into local ones that can be solved independently. We then show how symbolic control techniques can be used to synthesize controllers that enforce the local control objectives. Illustrative applications in building automation and vehicle platooning are shown.

Mots clés: Safety specifications; Symbolic control; Component-based design; Abstraction; Distributed control; Multiperiodic sampling; Assume-guarantee contracts

Domaines: Automatique / Robotique

Adnane Saoud, Antoine Girard, Laurent Fribourg. Contract-based Design of Symbolic Controllers for Safety in Distributed Multiperiodic Sampled-Data Systems. IEEE Transactions on Automatic Control, 2021, 66 (3), pp.1055-1070. ⟨10.1109/tac.2020.2992446⟩. ⟨hal-02132070v2⟩