Mathematical control theory: deterministic finite dimensional systems (2nd ed.)
Mathematical control theory: deterministic finite dimensional systems (2nd ed.)
Communication and Concurrency
Lyapunov Characterizations of Input to Output Stability
SIAM Journal on Control and Optimization
Approximate bisimulation relations for constrained linear systems
Automatica (Journal of IFAC)
Hierarchical synthesis of hybrid controllers from temporal logic specifications
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Approximate simulation relations and finite abstractions of quantized control systems
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Hierarchical trajectory refinement for a class of nonlinear systems
Automatica (Journal of IFAC)
Discrete Semantics for Hybrid Automata
Discrete Event Dynamic Systems
Receding horizon control for temporal logic specifications
Proceedings of the 13th ACM international conference on Hybrid systems: computation and control
Finite abstractions for hybrid systems with stable continuous dynamics
Discrete Event Dynamic Systems
Specification-guided controller synthesis for linear systems and safe linear-time temporal logic
Proceedings of the 16th international conference on Hybrid systems: computation and control
| Hi-index | 22.14 |
In this paper, we present a new approach for hierarchical control based on the recent notions of approximate simulation and simulation functions, a quantitative version of the simulation relations. Given a complex system that needs to be controlled and a simpler abstraction, we show how the knowledge of a simulation function allows us to synthesize hierarchical control laws by first controlling the abstraction and then lifting the abstract control law to the complex system using an interface. For the class of linear control systems, we give an effective characterization of the simulation functions and of the associated interfaces. This characterization allows us to use algorithmic procedures for their computation. We show how to choose an abstraction for a linear control system such that our hierarchical control approach can be used. Finally, we show the effectiveness of our approach on an example.