论文标题
互连控制系统的控制屏障功能的组成结构
Compositional Construction of Control Barrier Functions for Interconnected Control Systems
论文作者
论文摘要
在本文中，我们提供了一个组成框架，用于合成混合控制器，以实现由Co-Buchi Automata表示的相互连接的离散时间控制系统。特别是，我们首先根据代表原始Co-Buchi Automata的补充的自动机将给定的规范分解为更简单的可及性任务。然后，我们提供了一种系统的方法来通过计算相应的控制屏障功能来解决这些简单的可及性任务。我们表明，可以通过假设一些小增益类型条件并组成针对子系统计算的所谓局部控制屏障功能来在组合上构建这种控制屏障功能。我们提供了两种系统的技术，以基于平方之和优化程序和反示例引导的归纳合成方法来搜索子系统的局部控制障碍功能。最后，我们通过两个大型案例研究来说明结果的有效性。
In this paper, we provide a compositional framework for synthesizing hybrid controllers for interconnected discrete-time control systems enforcing specifications expressed by co-Buchi automata. In particular, we first decompose the given specification to simpler reachability tasks based on automata representing the complements of original co-Buchi automata. Then, we provide a systematic approach to solve those simpler reachability tasks by computing corresponding control barrier functions. We show that such control barrier functions can be constructed compositionally by assuming some small-gain type conditions and composing so-called local control barrier functions computed for subsystems. We provide two systematic techniques to search for local control barrier functions for subsystems based on the sum-of-squares optimization program and counter-example guided inductive synthesis approach. Finally, we illustrate the effectiveness of our results through two large-scale case studies.
