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. (Unpublished) https://resolver.caltech.edu/CaltechCDSTR:2008.003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) | ||||||
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Group: | Control and Dynamical Systems Technical Reports | ||||||
Record Number: | CaltechCDSTR:2008.003 | ||||||
Persistent URL: | https://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: | 03 Oct 2019 03:29 |
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