Closed-loop incremental stability for efficient symbolic control of non-linear systems. Issue 5 (2021)

• Record Type: Journal Article
• Authors: Tajvar, Pouria; Meyer, Pierre-Jean; Tumova, Jana
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 5(2021)
• Page Start: 121
• Page End: 126
• Publication Date: 2021
• Subjects: Stability -- stabilization of hybrid systems -- Reachability analysis; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.08.485
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we introduce a hybridization-based feedback control synthesis method for potentially unstable nonlinear continuous-time systems. We construct a discretization and feedback control that ensures dissipation form of incremental input-to-state stability property that a number of abstraction-based control methods rely on or benefit from. This enables the use of these methods also for the case of potentially unstable systems, to achieve a reachability or a temporal logic specification. We furthermore show that the algorithm can also improve abstraction-based methods that do not rely on stability assumptions by reducing the number of constructed abstract states and non-deterministic transitions. We illustrate the benefits of our approach in simulations featuring a cart-pendulum.