Contract-Based Design of Symbolic Controllers for Safety in Distributed Multiperiodic Sampled-Data Systems

• 成果类型: Article
• 署名作者: Saoud, Adnane; Girard, Antoine; Fribourg, Laurent
• 署名单位: Centre National de la Recherche Scientifique (CNRS); Universite Paris Saclay; Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2992446
• 发表日期: 2021
• 页码: 1055-1070
• 关键词: Contracts; safety; Sampled data systems; computational modeling; trajectory; Economic indicators; abstraction; assume-guarantee contracts; component-based design; Distributed control; multiperiodic sampling; safety specifications; symbolic control

摘要

This article presents a symbolic control approach to the design of distributed safety controllers for a class of continuous-time nonlinear systems. More precisely, we consider systems made of components where each component is equipped with a sampled-data controller with its own sampling period, resulting globally in a distributed multiperiodic sampled-data system. Moreover, controllers receive partial information on the state of the other components. We propose a component-based approach to controller synthesis, which relies on the use of abstractions and continuous-time assume-guarantee contracts. The abstractions describe the dynamics of the system from the point of view of each component based on the information structure, whereas assume-guarantee contracts specify guarantees that a component must satisfy if assumptions on the other components are met. We show that our approach makes it possible to decompose a global safety control problem into local ones that can be solved independently. We then show how symbolic control techniques can be used to synthesize controllers that enforce the local control objectives. Illustrative applications in building automation and vehicle platooning are shown.