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Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle

Wongpiromsarn, Tichakorn and Mitra, Sayan and Murray, Richard M. and Lamperski, Andrew (2008) Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle. California Institute of Technology , Pasadena, CA. (Submitted) http://resolver.caltech.edu/CaltechCDSTR:2008.003

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Abstract

This paper introduces Periodically Controlled Hybrid Automata (PCHA) for describing a class of hybrid control systems. In a PCHA, control actions occur roughly periodically while internal and input actions, may occur in the interim changing the discrete-state or the setpoint. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariance of PCHAs is presented. This technique is used in verifying safety of the planner-controller subsystem of an autonomous ground vehicle, and in deriving geometric properties of planner generated paths that can be followed safely by the controller under environmental uncertainties.


Item Type:Report or Paper (Technical Report)
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:2008.003
Persistent URL:http://resolver.caltech.edu/CaltechCDSTR:2008.003
Official Citation:T. Wongpiromsarn, S. Mitra, R. M. Murray, and A. Lamperski. (2008) Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle. Technical Report. CaltechCDSTR:2008.003, California Institute of Technology, Pasadena, CA.
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28136
Collection:CaltechCDSTR
Deposited By: Imported from CaltechCDSTR
Deposited On:21 Oct 2008
Last Modified:26 Dec 2012 14:31

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