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Finite abstractions with robustness margins for temporal logic-based control synthesis
| Content Provider | Semantic Scholar |
|---|---|
| Author | Ozay, Necmiye |
| Copyright Year | 2016 |
| Abstract | Abstract This paper introduces a notion of finite abstractions that can be used to synthesize robust controllers for dynamical systems from temporal logic specifications. These finite abstractions, equipped with certain robustness margins, provide a unified approach to various issues commonly encountered in implementing control systems, such as inter-sample behaviors of a sampled-data system, effects of imperfect state measurements and unmodeled dynamics. The main results of this paper demonstrate that the robustness margins can effectively account for the mismatches between a control system and its finite abstractions used for control synthesis. The quantitative nature of the robustness margins also makes it possible to study the trade-offs between the performance of controllers and their robustness against various types of adversaries (e.g., delays, measurement errors, or modeling uncertainties). We use a simple adaptive cruise control (ACC) example to illustrate such robustness–performance trade-offs. |
| Starting Page | 1 |
| Ending Page | 15 |
| Page Count | 15 |
| File Format | PDF HTM / HTML |
| DOI | 10.1016/j.nahs.2016.02.002 |
| Volume Number | 22 |
| Alternate Webpage(s) | https://uwaterloo.ca/hybrid-systems-lab/sites/ca.hybrid-systems-lab/files/uploads/files/liu2016finite.pdf |
| Alternate Webpage(s) | https://doi.org/10.1016/j.nahs.2016.02.002 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
