Low-Complexity Quantized Switching Controllers using Approximate Bisimulation
Abstract
In this paper, we consider the problem of synthesizing low-complexity controllers for incrementally stable switched systems. For that purpose, we establish a new approximation result for the computation of symbolic models that are approximately bisimilar to a given switched system. The main advantage over existing results is that it allows us to design naturally quantized switching controllers for safety or reachability specifications; these can be pre-computed offline and therefore the online execution time is reduced. Then, we present a technique to reduce the memory needed to store the control law by borrowing ideas from algebraic decision diagrams for compact function representation and by exploiting the non-determinism of the synthesized controllers. We show the merits of our approach by applying it to a simple model of temperature regulation in a building.
Keywords
Cite
@article{arxiv.1209.4576,
title = {Low-Complexity Quantized Switching Controllers using Approximate Bisimulation},
author = {Antoine Girard},
journal= {arXiv preprint arXiv:1209.4576},
year = {2013}
}