J. Cury, B. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Trans. Autom. Control, 43(4):564568, 1998.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....application perspective. A formal conversion to a finite state transition system in I S controller form is straight forward. However, while in our framework we may assume B spec to be realised as a finite automaton, this assumption in general will not hold up for BSP## . Consequently, [7, 6, 10, 13] suggest to approximately realize BSP## by a suitable finite automata and then to carry out the synthesis for the problem (B ca , B where B ca denotes the external behaviour induced by the approximate automata realisation. In this approximation based approach, two main issues present ....

B. A. Krogh J. E. R. Cury and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control, Special issue on hybrid systems, 43:564--568, 1998.

....approach. A counter example trace is generated if verification of a property fails. Details about HyTech can be found in [42] and online at www cad.eecs.berkeley.edu tah HyTech . CheckMate is a Matlab based tool for simulation and verification of threshold event driven hybrid systems (TEDHS) [27]. In a TEDHS the changes in the discrete state can occur only when continuous state variables encounter specified thresholds represented by hyperplanes. The TEDHS model specified in Matlab is converted into a polyhedral invariant hybrid automaton (PIHA) used for verification [18] PIHA are ....

J. Cury, B. Krogh, and T. Niinomi. Synthesis of supervisory controller for hybrid systems based on approximating automata. IEEE Transaction on Automatic Control, 43(4):564--569, April 1998.

....Stiver and Antsaklis [33] and Gollu and Varaiya [13] have given general formulations for the modelling and analysis of hybrid dynamic systems. As well, Brock ett [7] develops a general basis for the modelling of a wide range of motion control systems using hybrid dynamics. Several authors [19, 28, 32] have developed a number of techniques for the synthesis of hybrid dynamic controllers. It is on the strength of this, and other research, that we apply hybrid dynamic systems theory to the problem of robotic manipulation. In this paper, we first present the hybrid dynamic modelling of robotic ....

T. Niinomi, B.H. Krogh, and J.E.R. Cury. "Synthesis of supervisory controllers for hybrid systems based on approximating automata", Proc. 3J th Conference on Decision and Control, pp. 1461-1466, December 1995.

....in [19] however the logic is not used to model the specifications but rather to motivate the development of the synthesis procedures as well as to prove properties of the proposed algorithms. Other synthesis techniques include supervisory control based on approximate finite abstractions [10], convexity properties of a#ne systems [11] mixed integer linear programming [6] and game theoretic approaches [15] The outline of this paper is the following: in Section 2 we review transition systems, and obtain conditions for existence of finite bisimulations in the context of boolean ....

J.E.R. Cury, B.H. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control : Special Issue on Hybrid Systems, 43(4):564--568, April 1998.

....was considered in [4] where it was shown that qualitative analysis of system trajectories is decidable by making use of unique topological properties of the plane. Di#erent approaches based on approximation techniques to obtain finite abstractions include the work in [7] for verification and [9] for synthesis of supervisor controllers. Our results di#er from all the above in that we consider control systems instead of dynamical systems. It is the use of control that allows to modify the trajectories of the system into a form which admits a finite representation. Hence, our results are ....

J.E.R. Cury, B.H. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control : Special Issue on Hybrid Systems, 43(4):564-- 568, April 1998.

....languages. Even though only the continuous part of the system was abstracted, the important property that needed to be preserved in this abstraction was the detectability of the discrete switching conditions. Related but orthogonal work considers purely discrete abstractions of hybrid systems [2, 10, 12, 36]. The similarities between notions of abstraction for discrete, continuous, and hybrid systems immediately raise the question of a more uni ed theory of abstraction. In this paper, we begin addressing this important issue. We start by rst considering a more uni ed and abstract model for ....

J.E.R. Cury, B.H. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control : Special Issue on Hybrid Systems, 43(4):564-568, April 1998.

....Depending on the cardinality of the resulting quotient space we may have discrete or continuous abstractions. With this notion of abstraction, the abstracted system is defined as the induced quotient dynamics. Discrete abstractions of continuous systems have been considered in [3] as well as [4, 12]. In hierarchical systems, one would also like to ensure that certain properties propagate from the abstracted model to the original system. This would ensure that the higher level model is a consistent abstraction of the lower level. Different properties may require placing different conditions ....

J.E.R. Cury, B.H. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control : Special Issue on Hybrid Systems, 43(4):564-- 568, April 1998.

....algorithms employed within the approximation and the synthesis procedure terminate after a finite number of steps. Control related aspects of hybrid systems have been treated in a number of publications. In the context of the present contribution, approximation based approaches as discussed in [2, 7, 6, 11, 12, 19, 21, 15, 16] are most relevant. One usually distinguishes clock time scenarios, where the next time instant is determined by the ticking of an external clock, and logic time approaches, where the next time instant is determined by certain discrete events being triggered by the continuous component. ....

Cury, J. E. R., Krogh, B. A. and Niinomi, T. 1998. Synthesis of supervisory controllers for hybrid systems based on approximating automata. In [5], pp. 564-568.

....system can be de ned as the induced quotient system. Hierarchical approaches perform analysis or design of the abstracted system, and then re ne the design at the lower level while incorporating modeling detail. Purely discrete abstractions of continuous systems have been considered in [2, 4]. Hierarchical systems for discrete event systems have been formally considered in [10] Continuous abstractions of continuous systems is avery recent activity[7] More precisely, for linear control systems the abstraction problem is formulated as follows. Problem 1.1 [Linear Abstractions( 7] ....

J.E.R. Cury, B.H. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control : Special Issue on Hybrid Systems, 43(4):564-568, April 1998.

....sastry eecs.berkeley.edu) Publisher Item Identifier S 0018 9286(00)04165 9. Fig. 1. Two layer control hierarchy of abstraction, the abstracted system will be defined as the induced quotient dynamics. Discrete abstractions of continuous systems have been considered in [7] 8] as well as [2] [10], 31] Hierarchical systems for discrete event systems have been formally considered in [6] 35] 36] 38] In this paper, we focus on continuous abstractions. Therefore, our first priority is to have a formal notion of quotient control systems. Problem 1.1: Given a control system (1.1) and ....

J. E. R. Cury, B. H. Krogh, and T. Niinomi, "Synthesis of supervisory controllers for hybrid systems based on approximating automata," IEEE Trans. Automat. Contr., vol. 43, pp. 564--568, Apr. 1998.

.... of [17] Similar work for discrete event systems has been also considered in the control community [7] 29] 30] A related research area considers equivalent discrete abstractions of continuous or hybrid systems [2] 8] 14] as well as sufficient discrete abstractions of hybrid systems [4] [10], 23] In previous work, we have focused on extracting continuous abstractions from continuous systems. In particular, in [21] a hierarchical framework for continuous control systems was conceptualized and formally proposed. In [20] easily checkable characterizations were obtained for ....

J. E. R. Cury, B. H. Krogh, and T. Niinomi, "Synthesis of supervisory controllers for hybrid systems based on approximating automata," IEEE Trans. Automat. Contr., vol. 43, pp. 564--568, Apr. 1998.

....loop specification. However, rather restrictive conditions apply to hybrid systems on which synthesis can be treated directly; e.g. 15] Therefore it is suggested to approximate the switched flow system by some finite automaton and then to apply known synthesis procedures from DES theory; e.g. [5, 6, 9, 11, 12, 13]. In [9, 11] we propose an approximation based approach for supervisory control synthesis for a general class of hybrid systems within the framework provided by Willems behavioural systems theory (e.g. 16] and Ramadge and Wonham s supervisory control theory (e.g. 14] While [9, 11] address ....

....flow systems as in general with hybrid systems rather restrictive conditions apply when demanding that a synthesis procedure deals with both continuous and discrete variables directly. On the other hand, so called approximation based synthesis methods are available for non trivial flows [5, 6, 9, 11, 12, 13]. The rather simple idea behind the approximation based approach is to replace the continuous dynamics by some finite automaton and than solve the synthesis problem for the automaton by known methods from the field of DES theory; e.g. 2, 14] However, it then needs to be shown that a solution ....

[Article contains additional citation context not shown here]

Cury, J. E. R., Krogh, B. A. and Niinomi, T. 1998. Synthesis of supervisory controllers for hybrid systems based on approximating automata. In Antsaklis, P. J. and Nerode, A. (eds.) IEEE Transactions on Automatic Control, vol 43, no 4, Special issue on hybrid systems, pp. 564-568.

....Depending on the cardinality of the resulting quotient space we may have discrete or continuous abstractions. With this notion of abstraction, the abstracted system is defined as the induced quotient dynamics. Discrete abstractions of continuous systems have been considered in [3] as well as [4, 12]. In hierarchical systems, one would also like to ensure that certain properties propagate from the abstracted model to the original system. This would ensure that the higher level model is a consistent abstraction of the lower level. Different properties may require placing different conditions ....

J.E.R. Cury, B.H. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control : Special Issue on Hybrid Systems, 43(4):564-- 568, April 1998.

.... models and methodologies can be found in [4] The approach presented in this paper is directly related to supervisory control framework for hybrid systems [38, 39, 20] Similar approaches based on approximations of the continuous dynamics by a discrete event system have also been proposed in [31, 33, 12, 24]. The hybrid system model typically used in the supervisory control framework consists of a plant described by nonlinear differential or difference equations, a discrete event controller described by a deterministic finite automaton, and an interface which provides the means for the ....

J. Cury, B. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control, 43(4):564--568, 1998.

....of stabilizing controllers for hybrid systems has been studied in several publications (see. e.g. 10] and optimal control for a class of hybrid systems is studied in [11] In addition, the design of supervisory control systems for hybrid systems has been the subject of several papers (see, e.g. [12]. Risk sensitive control has been the subject of many publications in the last 10 years or so. Initially, efforts focused on risk sensitive control of linear systems in both continuous and discrete time (see [13] for overview) After the paper [14] linking robust and risk sensitive control for ....

J.E.R. Cury, B.H. Kogh and T. Niinomi, "Synthesis of Supervisory Controllers for Hybrid Systems Based on Approximating Automata," IEEE Transactions on Automatic Control 43 (1998), pp. 564-568.

....loop specification. However, rather restrictive conditions apply to hybrid systems on which synthesis can be treated directly; e.g. 15] Therefore it is suggested to approximate the switched flow system by some finite automaton and then to apply known synthesis procedures from DES theory; e.g. [5,6,9,11,12,13]. In [9, 11] we propose an approximation based approach for supervisory control synthesis for a general class of hybrid systems within the framework provided by Willems behavioural systems theory (e.g. 16] and Ramadge and Wonham s supervisory control theory (e.g. 14] While [9, 11] address ....

....flow systems as in general with hybrid systems rather restrictive conditions apply when demanding that a synthesis procedure deals with both continuous and discrete variables directly. On the other hand, so called approximation based synthesis methods are available for non trivial flows [5, 6, 9, 11, 12, 13]. The rather simple idea behind the approximation based approach is to replace the continuous dynamics by some finite automaton and than solve the synthesis problem for the automaton by known methods from the field of DES theory; e.g. 2, 14] However, it then needs to be shown that a solution ....

[Article contains additional citation context not shown here]

Cury, J. E. R., Krogh, B. A. and Niinomi, T. 1998. Synthesis of supervisory controllers for hybrid systems based on approximating automata. In Antsaklis, P. J. and Nerode, A. (eds.) IEEE Transactions on Automatic Control, vol 43, no 4, Special issue on hybrid systems, pp. 564-568.

....prescribed sequences through the blocks of a given nite partition of the plant state space. This gives a general purpose way of specifying the attainment of local goals along hybrid trajectories, and integrating the type of event sequence speci cations examined in DES approaches to hybrid systems [5, 12, 17]. In [6] we develop an abstract algorithm which solves this controller synthesis problem for arbitrary di erential equations with unique solutions, with a proof of nite termination derived from an assumption of compactness of the sets given in the data of the speci cations. In that work, we ....

J.E.R. Cury, B.A. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control, 43:564-568, 1998.

....Depending on the cardinality of the quotient space we may have discrete or continuous abstractions. With this notion of abstraction, the abstracted system will be defined as the induced quotient dynamics. Discrete abstractions of continuous systems have been considered in [10, 11] as well as [5, 26, 32]. Hierarchical systems for discrete event systems have been formally considered in [9, 38, 39, 41] In this paper, we focus on continuous abstractions and obtain continuous analogues of their results. Therefore, our first priority is to have a formal notion of quotient control systems. More ....

T. Niinomi, B.H. Krogh, and J.E.R. Cury. Synthesis of supervisory controllers for hybrid systems based on approximating automata. In Proceedings of the 1995 IEEE Conference on Decision and Control, pages 1461--1466, New Orleans, LA, December 1995.

.... automata [1] initialized rectangular automata [20] and linear hybrid automata [11] Some undecidable classes have also been discovered in [12] Computing finite bisimulations is clearly related to the problem of obtaining discrete abstractions of continuous systems which has been considered by [21, 17, 5] as well as [8] Since the discrete dynamics are already finite, it is clear that decidability results for hybrid systems depend crucially on the success of obtaining finite bisimulations for continuous dynamics. The cases considered so far in the literature dealt with simple dynamics: x = 1 for ....

T. Niinomi, B.H. Krogh, and J.E.R. Cury. Synthesis of supervisory controllers for hybrid systems based on approximating automata. In Proceedings of the 1995 IEEE Conference on Decision and Control, pages 1461--1466, New Orleans, LA, December 1995.

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J. Cury, B. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Trans. Autom. Control, 43(4):564568, 1998.

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J. Cury, B. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Trans. Autom. Control, 43(4):564568, 1998.

No context found.

J. Cury, B. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control, 43(4):564--568, 1998.

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J.E.R. Cury, B.H. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control : Special Issue on Hybrid Systems, 43(4):564--568, April 1998.

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J.E.R. Cury, B.H. Krogh, and T. Niinomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control : Special Issue on Hybrid Systems, 43(4):564--568, April 1998.

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J.E.R. Cury, B.H. Krogh, and T. Ninomi. Synthesis of supervisory controllers for hybrid systems based on approximating automata. IEEE Transactions on Automatic Control : Special Issue on Hybrid Systems, 43(4):564--568, April 1998.

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