dc.contributor.author | Colombo, Alessandro | |
dc.contributor.author | Del Vecchio, Domitilla | |
dc.date.accessioned | 2013-04-11T18:02:18Z | |
dc.date.available | 2013-04-11T18:02:18Z | |
dc.date.issued | 2011-12 | |
dc.identifier.isbn | 978-1-61284-799-3 | |
dc.identifier.isbn | 978-1-61284-800-6 | |
dc.identifier.issn | 0743-1546 | |
dc.identifier.uri | http://hdl.handle.net/1721.1/78351 | |
dc.description.abstract | 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. | en_US |
dc.description.sponsorship | National Science Foundation (U.S.) (Award CNS 0930081) | en_US |
dc.language.iso | en_US | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.isversionof | http://dx.doi.org/10.1109/CDC.2011.6160759 | en_US |
dc.rights | Creative Commons Attribution-Noncommercial-Share Alike 3.0 | en_US |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/3.0/ | en_US |
dc.source | MIT web domain | en_US |
dc.title | Supervisory control of differentially flat systems based on abstraction | en_US |
dc.type | Article | en_US |
dc.identifier.citation | Colombo, Alessandro, and Domitilla Del Vecchio. “Supervisory Control of Differentially Flat Systems Based on Abstraction.” IEEE, 2011. 6134–6139. | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | en_US |
dc.contributor.mitauthor | Colombo, Alessandro | |
dc.contributor.mitauthor | Del Vecchio, Domitilla | |
dc.relation.journal | Proceedins of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), 2011 | en_US |
dc.eprint.version | Author's final manuscript | en_US |
dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
dspace.orderedauthors | Colombo, Alessandro; Del Vecchio, Domitilla | en |
dc.identifier.orcid | https://orcid.org/0000-0001-6472-8576 | |
mit.license | OPEN_ACCESS_POLICY | en_US |
mit.metadata.status | Complete | |