Formal Controller Synthesis from Specifications Given by Discrete-Time Hybrid Automata

Abstract : This paper deals with formal controller synthesis for discrete-time dynamical systems. For a specification under the form of a discrete-time hybrid automaton, we aim at synthesizing controllers such that the trajectories of the closed-loop system are also trajectories of the hybrid automaton. We first show that the existence of an alternating simulation relation from the specification to the open-loop system is a necessary and sufficient condition for the existence of such controllers. Then, we propose an approach based on the use of symbolic (i.e. finite-state) abstractions of both the system and the specification. Effective computations are discussed for systems that are monotone and for specifications given by piecewise affine hybrid automata. We extend our approach to handle specifications with additional safety or reachability requirements. Finally, we illustrate our approach with examples from autonomous vehicle control.
Complete list of metadatas

Cited literature [21 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-02361404
Contributor : Vladimir Sinyakov <>
Submitted on : Wednesday, November 13, 2019 - 1:24:09 PM
Last modification on : Saturday, November 16, 2019 - 1:24:27 AM

File

V. Sinyakov and A. Girard. For...
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02361404, version 1

Citation

Vladimir Sinyakov, Antoine Girard. Formal Controller Synthesis from Specifications Given by Discrete-Time Hybrid Automata. 2019. ⟨hal-02361404⟩

Share

Metrics

Record views

25

Files downloads

58