Finite abstractions with robustness margins for temporal logic-based control synthesis. (November 2016)

• Record Type: Journal Article
• Authors: Liu, Jun; Ozay, Necmiye
• Is Part Of: Nonlinear analysis. Volume 22(2016)
• Page Start: 1
• Page End: 15
• Publication Date: 2016-11
• Subjects: Finite abstractions -- Control synthesis -- Robustness -- Temporal logic -- Hybrid systems; Nonlinear functional analysis -- Periodicals; Analyse fonctionnelle non linéaire -- Périodiques; Nonlinear functional analysis; Periodicals; 515.7248
• DOI: 10.1016/j.nahs.2016.02.002
• Languages: English
• ISSNs: 1751-570X

Abstract

Abstract: This paper introduces a notion of finite abstractions that can be used to synthesize robust controllers for dynamical systems from temporal logic specifications. These finite abstractions, equipped with certain robustness margins, provide a unified approach to various issues commonly encountered in implementing control systems, such as inter-sample behaviors of a sampled-data system, effects of imperfect state measurements and unmodeled dynamics. The main results of this paper demonstrate that the robustness margins can effectively account for the mismatches between a control system and its finite abstractions used for control synthesis. The quantitative nature of the robustness margins also makes it possible to study the trade-offs between the performance of controllers and their robustness against various types of adversaries (e.g., delays, measurement errors, or modeling uncertainties). We use a simple adaptive cruise control (ACC) example to illustrate such robustness–performance trade-offs.