Symbolic Reachability Computation for Families of Linear Vector Fields
Journal of Symbolic Computation
Control Using Logic-Based Switching
Control Using Logic-Based Switching
Communication and Concurrency
Verification of Polyhedral-Invariant Hybrid Automata Using Polygonal Flow Pipe Approximations
HSCC '99 Proceedings of the Second International Workshop on Hybrid Systems: Computation and Control
Ellipsoidal Techniques for Reachability Analysis
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Decidable Controller Synthesis for Classes of Linear Systems
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Controllers for reachability specifications for hybrid systems
Automatica (Journal of IFAC)
Hierarchical Approach for Design of Multi-vehicle Multi-modal Embedded Software
EMSOFT '01 Proceedings of the First International Workshop on Embedded Software
Bisimulation Based Hierarchical System Architecture for Single-Agent Multi-modal Systems
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
Synthesizing Switching Logic Using Constraint Solving
VMCAI '09 Proceedings of the 10th International Conference on Verification, Model Checking, and Abstract Interpretation
Synthesizing switching logic for safety and dwell-time requirements
Proceedings of the 1st ACM/IEEE International Conference on Cyber-Physical Systems
Switching logic synthesis for reachability
EMSOFT '10 Proceedings of the tenth ACM international conference on Embedded software
Synthesis of optimal switching logic for hybrid systems
EMSOFT '11 Proceedings of the ninth ACM international conference on Embedded software
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In many control applications, a specific set of output tracking controllers of satisfactory performance have already been designed and must be used. When such a collection of control modes is available, an important problem is to be able to accomplish a variety of high level tasks by appropriately switching between the low-level control modes. In this paper, we define a concept of control modes, and propose a framework for determining the sequence of control modes that will satisfy reachability tasks. Our framework exploits the structure of output tracking controllers in order to extract a finite graph where the mode switching problem can be efficiently solved, and then implement it using the continuous controllers. Our approach is illustrated on a helicopter example, where we determine the mode switching logic that achieves the high-altitude takeoff task from a hover mode.