Supervisory control of differentially flat systems based on abstraction
Author(s)Colombo, Alessandro; Del Vecchio, Domitilla
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The limiting factor in most implementations of safety enforcing controllers is the model's complexity, and a common work-around includes the abstraction of the physical model, based on differential equations, to a finite symbolic model. We exploit the specific structure of a class of systems (the differentially flat systems) to perform the abstraction. The objective is to construct a supervisor enforcing a set of safety rules, while imposing as little constraints as possible on the system's functionality. An example - a collision avoidance algorithm for a fleet of vehicles converging to an intersection - is presented. Our approach improves on previous results by providing a deterministic symbolic model irrespective of the stability properties of a system, and by addressing explicitly the problem of enforcing safety.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Proceedins of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), 2011
Institute of Electrical and Electronics Engineers (IEEE)
Colombo, Alessandro, and Domitilla Del Vecchio. “Supervisory Control of Differentially Flat Systems Based on Abstraction.” IEEE, 2011. 6134–6139.
Author's final manuscript