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Learning-based symbolic abstractions for nonlinear control systems?
Osaka Univ, Grad Sch Engn, Suita, Japan..
Univ Paris Saclay, Lab Signaux & Syst, CNRS, Cent Supelec, Gif Sur Yvette, France..
Natl Inst Informat NII, Tokyo, Japan..
Osaka Univ, Grad Sch Engn & Sci, Toyonaka, Japan..
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2022 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 146, p. 110646-, article id 110646Article in journal (Refereed) Published
Abstract [en]

Symbolic models or abstractions are known to be powerful tools for the control design of cyber- physical systems (CPSs) with logic specifications. In this paper, we investigate a novel learning-based approach to the construction of symbolic models for nonlinear control systems. In particular, the symbolic model is constructed based on learning the un-modeled part of the dynamics from training data based on state-space exploration, and the concept of an alternating simulation relation that represents behavioral relationships with respect to the original control system. Moreover, we aim at achieving safe exploration, meaning that the trajectory of the system is guaranteed to be in a safe region for all times while collecting the training data. In addition, we provide some techniques to reduce the computational load, in terms of memory and computation time,of constructing the symbolic models and the safety controller synthesis, so as to make our approach practical. Finally, a numerical simulation illustrates the effectiveness of the proposed approach.

Place, publisher, year, edition, pages
Elsevier BV , 2022. Vol. 146, p. 110646-, article id 110646
Keywords [en]
Symbolic models, Uncertain systems, Safety controller synthesis, Gaussian processes
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-321314DOI: 10.1016/j.automatica.2022.110646ISI: 000871118300009Scopus ID: 2-s2.0-85139994025OAI: oai:DiVA.org:kth-321314DiVA, id: diva2:1710226
Note

QC 20221111

Available from: 2022-11-11 Created: 2022-11-11 Last updated: 2022-11-11Bibliographically approved

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Dimarogonas, Dimos V.

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CiteExportLink to record
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