Symbolic Self-triggered Control of Continuous-time Non-deterministic Systems without Stability Assumptions for 2-LTL Specifications
Abstract
We propose a symbolic self-triggered controller synthesis procedure for non-deterministic continuous-time nonlinear systems without stability assumptions. The goal is to compute a controller that satisfies two objectives. The first objective is represented as a specification in a fragment of LTL, which we call 2-LTL. The second one is an energy objective, in the sense that control inputs are issued only when necessary, which saves energy. To this end, we first quantise the state and input spaces, and then translate the controller synthesis problem to the computation of a winning strategy in a mean-payoff parity game. We illustrate the feasibility of our method on the example of a navigating nonholonomic robot.
Cite
@article{arxiv.2010.11663,
title = {Symbolic Self-triggered Control of Continuous-time Non-deterministic Systems without Stability Assumptions for 2-LTL Specifications},
author = {Sasinee Pruekprasert and Clovis Eberhart and Jérémy Dubut},
journal= {arXiv preprint arXiv:2010.11663},
year = {2020}
}
Comments
16th International Conference on Control, Automation, Robotics and Vision (ICARCV 2020)