Symbolic control of systems with dead times using symbolic smith predictors

Mizoguchi, Masashi; Ushio, Toshimitsu

doi:10.1109/cdc.2016.7799149

Cited by 5 publications

(3 citation statements)

References 17 publications

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“…In order to guarantee the satisfaction of the specification, it is necessary that a control input determined by a symbolic Smith controller is valid for all candidates listed by the predictor. Note that, if (16) does not hold, we cannot design a deadlock-free symbolic controller.…”

Section: Definitionmentioning

confidence: 99%

“…The authors extended the acASR-based symbolic synthesis to partial observation and delayed systems [13]- [17]. These approaches are extended to networked control systems [18], [19] Especially, in [16], the authors proposed a framework of a symbolic Smith controller, which proves that the Smith method is applicable not only in the classical control but also in symbolic control. A symbolic controller designed for a plant with no dead time is successfully extended to control a plant with a dead time by adding a predictor on plant states after the dead time is elapsed.…”

Section: Introductionmentioning

confidence: 99%

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Deadlock-Free Symbolic Smith Controllers Based on Prediction for Nondeterministic Systems

Mizoguchi

Ushio

2021

IEICE Trans. Fundamentals

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The Smith method has been used to control physical plants with dead time components, where plant states after the dead time is elapsed are predicted and a control input is determined based on the predicted states. We extend the method to the symbolic control and design a symbolic Smith controller to deal with a nondeterministic embedded system. Due to the nondeterministic transitions, the proposed controller computes all reachable plant states after the dead time is elapsed and determines a control input that is suitable for all of them in terms of a given control specification. The essence of the Smith method is that the effects of the dead time are suppressed by the prediction, however, which is not always guaranteed for nondeterministic systems because there may exist no control input that is suitable for all predicted states. Thus, in this paper, we discuss the existence of a deadlock-free symbolic Smith controller. If it exists, it is guaranteed that the effects of the dead time can be suppressed and that the controller can always issue the control input for any reachable state of the plant. If it does not exist, it is proved that the deviation from the control specification is essentially inevitable.

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Section: Definitionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Deadlock-Free Symbolic Smith Controllers Based on Prediction for Nondeterministic Systems

Mizoguchi

Ushio

2021

IEICE Trans. Fundamentals

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“…To discuss the relationship between a controlled system and desired behaviors (i.e., control specifications), simulation relations and alternating simulation relations have been introduced [24]. These have been extended to approximate simulation relations and approximate alternating simulation relations for the finite abstraction of infinite transition systems, such as hybrid systems [25], [26], [27], possibly with bounded disturbances [28], and cyber-physical systems [29], [30]. Recently, the authors extended control barrier functions to symbolic control barrier functions for abstraction-based formal synthesis, in which set invariance is enforced on a (physical) plant with a finite abstracted controller, despite unpredictable packet dropouts [31].…”

Section: Introductionmentioning

confidence: 99%

Abstraction-Based Safe Control With Alternating Simulation-Based Shields and Its Application to Mobile Robots

Mizoguchi,

Ushio

2024

IEEE Access

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ion-based formal synthesis with a symbolic control barrier function is useful for obtaining a finite-state safe controller for an infinite system with sporadic disturbances. In the case of multiple mobile robots sharing a common workspace, a controller ensuring arrival to destinations without any collisions is obtained with the symbolic control barrier function, despite the existence of unpredictable sporadic packet dropouts among robots. In the existing method, a local abstracted model of each robot is constructed, they are composed to obtain an abstracted model of the entire system, and unsafe transitions in it are eliminated with a symbolic control barrier function. However, a considerable computation time is required when the number of robots is large. To solve this problem, a shield called an alternating simulationbased shield (AS-Shield) was introduced into abstraction-based formal synthesis. As well as the existing method, a local abstracted model for each robot was constructed. Instead of the composition, a local controller was constructed for each robot, and a safe controller for the robot was obtained by attaching an AS-Shield. Because a composition to obtain the entire system is not necessary, the control inputs are computable, even though the number of robots is large. To confirm the validity of the proposed method, it was implemented using a robot simulator.INDEX TERMS Alternating simulation, cyber-physical systems, formal methods, hybrid systems, mobile robots, shield synthesis.

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Deadlock-free output feedback controller design based on approximately abstracted observers

Mizoguchi

Ushio

2018

Nonlinear Analysis: Hybrid Systems

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Symbolic control of systems with dead times using symbolic smith predictors

Cited by 5 publications

References 17 publications

Deadlock-Free Symbolic Smith Controllers Based on Prediction for Nondeterministic Systems

Deadlock-Free Symbolic Smith Controllers Based on Prediction for Nondeterministic Systems

Abstraction-Based Safe Control With Alternating Simulation-Based Shields and Its Application to Mobile Robots

Deadlock-free output feedback controller design based on approximately abstracted observers

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