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Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems
Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2019 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 64, no 11, p. 4676-4683Article in journal (Refereed) Published
Abstract [en]

This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a linear temporal logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving three abstraction layers of the problem, iteratively solved from the coarsest to the finest. The LTL planning is first solved on a small transition system only describing the regions of interest involved in the LTL formula. For each pair of consecutive regions of interest in the resulting accepting path satisfying the LTL formula, a discrete plan is then constructed in the partitioned workspace to connect these two regions while avoiding unsafe regions. Finally, an abstraction refinement approach is applied to synthesize a controller for the dynamical system to follow each discrete plan. The second main contribution, used in the third abstraction layer, is a new monotonicity-based method to overapproximate the finite-time reachable set of any continuously differentiable system. The proposed framework is demonstrated in simulation for a motion planning problem of a mobile robot modeled as a disturbed unicycle.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2019. Vol. 64, no 11, p. 4676-4683
Keywords [en]
Reachability analysis, Planning, Tools, Nonlinear dynamical systems, Computational modeling, Nonlinear control systems, Abstraction-based synthesis, hierarchical decomposition, linear temporal logic (LTL) planning, mixed-monotone systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-264854DOI: 10.1109/TAC.2019.2902643ISI: 000495647600024Scopus ID: 2-s2.0-85074537478OAI: oai:DiVA.org:kth-264854DiVA, id: diva2:1377238
Note

QC 20191211

Available from: 2019-12-11 Created: 2019-12-11 Last updated: 2019-12-11Bibliographically approved

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Dimarogonas, Dimos V.

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