Learning-based symbolic abstractions for nonlinear control systems
Résumé
Symbolic models or abstractions are known to be powerful tools for the control design of cyber-physical systems (CPSs) with
logic specifications. In this paper, we investigate a novel learning-based approach to the construction of symbolic models for
nonlinear control systems. In particular, the symbolic model is constructed based on learning the un-modeled part of the
dynamics from training data based on state-space exploration, and the concept of an alternating simulation relation that
represents behavioral relationships with respect to the original control system. Moreover, we aim at achieving safe exploration,
meaning that the trajectory of the system is guaranteed to be in a safe region for all times while collecting the training data.
In addition, we provide some techniques to reduce the computational load, in terms of memory and computation time, of
constructing the symbolic models and the safety controller synthesis, so as to make our approach practical. Finally, a numerical
simulation illustrates the effectiveness of the proposed approach.