Closed-loop incremental stability for efficient symbolic control of non-linear systems - Archive ouverte HAL
Communication Dans Un Congrès Année : 2021

Closed-loop incremental stability for efficient symbolic control of non-linear systems

Résumé

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.
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Dates et versions

hal-03379691 , version 1 (15-10-2021)

Identifiants

Citer

Pouria Tajvar, Pierre-Jean Meyer, Jana Tumova. Closed-loop incremental stability for efficient symbolic control of non-linear systems. 7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021, Jul 2021, Bruxelles, Belgium. pp121-126, ⟨10.1016/j.ifacol.2021.08.485⟩. ⟨hal-03379691⟩
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