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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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|
|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.|
|Deposited By:||Imported from CaltechCDSTR|
|Deposited On:||21 Oct 2008|
|Last Modified:||18 Mar 2015 23:03|
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