Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization
文献类型：期刊论文
| 作者 | Wei Ren; Zhuo-Rui Pan; Weiguo Xia; Xi-Ming Sun |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2024 |
| 卷号 | 11期号:10页码:2082-2098 |
| 关键词 | Abstraction-based control design dynamic quantization formal methods linear temporal logic (LTL) |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2024.124473 |
| 英文摘要 | Linear temporal logic (LTL) is an intuitive and expressive language to specify complex control tasks, and how to design an efficient control strategy for LTL specification is still a challenge. In this paper, we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL specifications. Based on the regions of interest involved in the LTL formula, an accepting path is derived first to provide a high-level solution for the controller synthesis problem. Second, we develop a dynamic quantization based approach to verify the realization of the accepting path. The realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller design. Third, the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control strategy. Both abstraction construction and controller design are local and dynamic, thereby resulting in the potential reduction of the computational complexity. Since each quantization region can be considered locally and individually, the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing methods. Finally, the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58839]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Wei Ren,Zhuo-Rui Pan,Weiguo Xia,et al. Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(10):2082-2098. |
| APA | Wei Ren,Zhuo-Rui Pan,Weiguo Xia,&Xi-Ming Sun.(2024).Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization.IEEE/CAA Journal of Automatica Sinica,11(10),2082-2098. |
| MLA | Wei Ren,et al."Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization".IEEE/CAA Journal of Automatica Sinica 11.10(2024):2082-2098. |
入库方式： OAI收割
来源：自动化研究所
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