论文标题
在干扰下对线性系统的层次控制的强大近似模拟
Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances
论文作者
论文摘要
近似模拟是模拟关系从形式方法到连续系统的扩展，是对复杂系统层次控制的强大工具。找到完整的“混凝土”系统和简化的“抽象”系统之间的近似模拟关系建立了两个系统之间的输出误差的绑定，从而使一个人可以为抽象系统设计一个控制器，同时在混凝土系统上正式认证性能。但是，许多现实世界中的控制系统都受到外部干扰的约束，这在标准近似模拟框架中未考虑。我们提出了一个强大的近似模拟概念，该概念考虑了对混凝土系统的外部干扰。我们得出了受两种类型的添加剂干扰的线性系统情况的输出误差界限：有界干扰和一系列（无限）脉冲干扰的序列。我们证明了需要使用模拟的机器人运动计划示例进行稳健的近似模拟以及我们提出的方法的有效性。
Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an approximate simulation relation between the full "concrete" system and a simplified "abstract" system establishes a bound on the output error between the two systems, allowing one to design a controller for the abstract system while formally certifying performance on the concrete system. However, many real-world control systems are subject to external disturbances, which are not accounted for in the standard approximate simulation framework. We present a notion of robust approximate simulation, which considers external disturbances to the concrete system. We derive output error bounds for the case of linear systems subject to two types of additive disturbances: bounded disturbances and a sequence of (unbounded) impulse disturbances. We demonstrate the need for robust approximate simulation and the effectiveness of our proposed approach with a simulated robot motion planning example.
