Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control最新文献

Piece-wise analytic trajectory computation for polytopic switching between stable affine systems 稳定仿射系统间多面体切换的分段解析轨迹计算

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382204

M. Rabi

引用次数: 2

Does sample-time emulation preserve exponential stability? 样本时间模拟是否保持指数稳定性?

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382221

A. Proskurnikov

{"title":"Does sample-time emulation preserve exponential stability?","authors":"A. Proskurnikov","doi":"10.1145/3365365.3382221","DOIUrl":"https://doi.org/10.1145/3365365.3382221","url":null,"abstract":"Whereas classical control theory provides many methods for designing continuous-time feedback controllers, nowadays control algorithms are implemented on digital platforms and have to be designed in sampled time. Approaches to sampled-time control design are based on either discretization of the plant enabling discrete-time controller synthesis, or various redesign methods converting a continuous-time controller into a sampled-time approximation, providing comparable closed-loop system properties. The simplest of redesign approaches, typically used in practice, is the emulation of continuous-time feedback by sufficiently fast sampling. In spite of its simplicity, emulation gives rise to an important problem: does emulation at a sufficiently high rate (or, equivalently, with a small sampling time) preserve the stability of the closed-loop system? In this paper, we address this problem for the case of exponential stability (local or global). Even for linear systems, the problem of stability preservation becomes non-trivial when sampling is aperiodic. For nonlinear systems, viability of emulation approach is usually proved only under quite restrictive assumptions on the plant and the controller, which, as will be shown, in fact be discarded.","PeriodicalId":162317,"journal":{"name":"Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130329610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Convergence of ant colony multi-agent swarms 蚁群多智能体群体的收敛性

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382199

Daniel Jarne Ornia, M. Mazo

引用次数: 2

Worst-case topological entropy and minimal data rate for state observation of switched linear systems 切换线性系统状态观测的最坏情况拓扑熵和最小数据率

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382195

Guillaume O. Berger, R. Jungers

引用次数: 9

Reachability analysis for hybrid systems with nonlinear guard sets 非线性保护组混合系统的可达性分析

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382194

Niklas Kochdumper, M. Althoff

引用次数: 16

A deontic logic analysis of autonomous systems' safety 自主系统安全性的道义逻辑分析

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382203

Colin Shea-Blymyer, Houssam Abbas

引用次数: 2

Dynamics-aware subspace identification for decomposed aggregation in the reachability analysis of hybrid automata 混合自动机可达性分析中分解聚合的动态感知子空间识别

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382200

V. S. E. Hakim, M. Bekooij

{"title":"Dynamics-aware subspace identification for decomposed aggregation in the reachability analysis of hybrid automata","authors":"V. S. E. Hakim, M. Bekooij","doi":"10.1145/3365365.3382200","DOIUrl":"https://doi.org/10.1145/3365365.3382200","url":null,"abstract":"Hybrid automata are an emerging formalism used to model sampled-data control Cyber-Physical Systems (CPS), and analyze their behavior using reachability analysis. This is because hybrid automata provide a richer and more flexible modeling framework, compared to traditional approaches. However, modern state-of-the-art tools struggle to analyze such systems, due to the computational complexity of the reachability algorithm, and due to the introduced overapproximation error. These shortcomings are largely attributed (but not limited) to the aggregation of sets. In this paper we propose a subspace identification approach for decomposed aggregation in the reachability analysis of hybrid automata with linear dynamics. Our key contribution is the observation that the choice of a good subspace basis does not only depend on the sets being aggregated, but also on the continuous-time dynamics of an automaton. With this observation in mind, we present a dynamics-aware sub-space identification algorithm that we use to construct tight decomposed convex hulls for the aggregated sets. Our approach is evaluated on two practically relevant hybrid automata models of sampled-data CPS that have been shown to be difficult to analyze by modern state-of-the-art tools. Specifically, we show that for these models our approach can improve the accuracy of the reachable set by up-to 10 times when compared to standard Principal Component Analysis (PCA), for which finding a fixed point is not guaranteed. We also show that while the computational complexity is increased, a fixed-point is found earlier.","PeriodicalId":162317,"journal":{"name":"Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125568168","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Statistical verification of learning-based cyber-physical systems 基于学习的网络物理系统的统计验证

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382209

Mojtaba Zarei, Yu Wang, M. Pajic

引用次数: 21

Formal verification of braking while swerving in automobiles 汽车转向时制动的正式验证

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382217

A. Abhishek, Harry Sood, Jean-Baptiste Jeannin

{"title":"Formal verification of braking while swerving in automobiles","authors":"A. Abhishek, Harry Sood, Jean-Baptiste Jeannin","doi":"10.1145/3365365.3382217","DOIUrl":"https://doi.org/10.1145/3365365.3382217","url":null,"abstract":"Many vehicle accidents result from collision with foreign objects. Automatic and provably safe collision avoidance systems are thus of prime importance to the automobile industry. Previous work on formally verifying car collision avoidance maneuvers typically only focuses on braking-only or swerving-only maneuvers. In this work, we study combined braking and swerving maneuvers and establish formally verified conditions under which safety from collision is ensured. One major constrain in performing such joint maneuvers is that a vehicle's tires have limited traction which can be used either for braking or swerving. So in essence, a combined maneuver can trade off braking ability for turning when it is advantageous to do so and vice-versa. In this work, we study the full continuous range of combined maneuvers, from maximal turning with little braking to maximal braking with little turning. We use a unicycle model with Ackermann's steering for the car's motion, and the circle of traction forces to model the trade-off between braking and swerving. Resulting vehicle kinematics are formulated as a hybrid program in differential dynamic logic dL. We use the automated theorem prover KeYmaera X to formally verify the correctness of the collision avoidance property. This verification provides a mathematical guarantee that a given maneuver can prevent the car from collision with obstacles under certain conditions. The employed method is generic with a purely symbolic model and, thus, can be applied to verify other types of collision avoidance systems exhibiting richer behaviour.","PeriodicalId":162317,"journal":{"name":"Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131086932","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Local lipschitzness of reachability maps for hybrid systems with applications to safety 具有安全应用的混合系统可达性图的局部lipschitzness

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control Pub Date : 2020-04-22 DOI: 10.1145/3365365.3382215

M. Maghenem, R. Sanfelice

{"title":"Local lipschitzness of reachability maps for hybrid systems with applications to safety","authors":"M. Maghenem, R. Sanfelice","doi":"10.1145/3365365.3382215","DOIUrl":"https://doi.org/10.1145/3365365.3382215","url":null,"abstract":"Motivated by the safety problem, several definitions of reachability maps, for hybrid dynamical systems, are introduced. It is well established that, under certain conditions, the solutions to continuous-time systems depend continuously with respect to initial conditions. In such setting, the reachability maps considered in this paper are locally Lipschitz (in the Lipschitz sense for set-valued maps) when the right-hand side of the continuous-time system is locally Lipschitz. However, guaranteeing similar properties for reachability maps for hybrid systems is much more challenging. Examples of hybrid systems for which the reachability maps do not depend nicely with respect to their arguments, in the Lipschitz sense, are introduced. With such pathological cases properly identified, sufficient conditions involving the data defining a hybrid system assuring Lipschitzness of the reachability maps are formulated. As an application, the proposed conditions are shown to be useful to significantly improve an existing converse theorem for safety given in terms of barrier functions. Namely, for a class of safe hybrid systems, we show that safety is equivalent to the existence of a locally Lipschitz barrier function. Examples throughout the paper illustrate the results.","PeriodicalId":162317,"journal":{"name":"Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129846054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5