论文标题
基于弹性抽象的控制器设计
Resilient Abstraction-Based Controller Design
论文作者
论文摘要
我们考虑用于扰动非线性动力学系统W.R.T.的弹性控制器的计算。线性时间逻辑规格。我们通过基于抽象的控制器设计（ABCD）的范式解决了这个问题，其中构建并用于控制器合成，其中有限的扰动系统动力学的态度抽象。在这种情况下，我们的贡献是双重的：（i）我们构建抽象，这些抽象通过所谓的干扰边缘对系统对系统的影响进行了建模。 （ii）我们表明，弹性反应性合成技术在这些抽象模型中的应用导致闭环系统，这些系统在这些偶尔偶尔出现的高干扰尖峰方面具有最佳弹性。我们已经在苏格兰人之上实施了这种有弹性的ABCD工作流程，并通过多个机器人计划示例展示了我们的方法。
We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD) where a finite state abstraction of the perturbed system dynamics is constructed and utilized for controller synthesis. In this context, our contribution is twofold: (I) We construct abstractions which model the impact of occasional high disturbance spikes on the system via so called disturbance edges. (II) We show that the application of resilient reactive synthesis techniques to these abstract models results in closed loop systems which are optimally resilient to these occasional high disturbance spikes. We have implemented this resilient ABCD workflow on top of SCOTS and showcase our method through multiple robot planning examples.
