View source for Synthesis of Reactive Control Protocols for Differentially Flat Systems

{{HTDB paper
| authors = Jun Liu, Ufuk Topcu, Necmiye Ozay, and Richard M. Murray
| title = Synthesis of Reactive Control Protocols for Differentially Flat Systems
| source = 2012 Conference on Decision and Control (CDC)
| year = 2012
| type = Conference Paper
| funding = MuSyC, Boeing
| url = http://www.cds.caltech.edu/~murray/preprints/ltom12-cdc_s.pdf
| abstract = 
We propose a procedure for the synthesis of con- trol protocols for systems governed by nonlinear differential equations and constrained by temporal logic specifications. This procedure relies on a particular finite-state abstraction of the un- derlying continuous dynamics and a discrete representation of the external environmental signals. A two-player game formulation provides computationally efficient means to construct a discrete strategy based on the finite-state model. We focus on systems with differentially flat outputs, which, in a straightforward manner, allows the construction of continuous control signals from the discrete transitions dictated by the discrete strategy. The resulting continuous-time output trajectories are provably guaranteed to robustly satisfy the original specifications.

| flags = 
| tag = ltom12-cdc
| id = 2012c
}}