论文标题
符号自触发对连续时间非确定性系统而没有稳定性假设的2-LTL规范的控制
Symbolic Self-triggered Control of Continuous-time Non-deterministic Systems without Stability Assumptions for 2-LTL Specifications
论文作者
论文摘要
我们为无稳定性假设的非确定性连续时间非线性系统提出了符号自触发控制器的合成程序。目标是计算一个满足两个目标的控制器。第一个目标表示为LTL片段中的规范，我们称之为2-LTL。第二个是能量目标，从某种意义上说，只有在必要时发布控制输入，从而节省了能源。为此，我们首先量化状态和输入空间，然后将控制器合成问题转换为平均薪资平价游戏中获胜策略的计算。我们以导航的非独立机器人的示例说明了我们的方法的可行性。
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.
