Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization

作     者：Wei Ren Zhuo-Rui Pan Weiguo Xia Xi-Ming Sun Wei Ren;Zhuo-Rui Pan;Weiguo Xia;Xi-Ming Sun

作者机构：the Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of EducationDalian University of Technology the School of Control Science and EngineeringDalian University of TechnologyDalian 116024China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2024年第11卷第10期

页      面：2082-2098页

核心收录：

学科分类：0711[理学-系统科学] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the Fundamental Research Funds for the Central Universities(DUT22RT(3)090) the National Natural Science Foundation of China(61890920,61890921,62122016,08120003) Liaoning Science and Technology Program(2023JH2/101700361) 

主　　题：Abstraction-based control design dynamic quantization formal methods linear temporal logic(LTL) 

摘      要：Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a *** this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL *** on the regions of interest involved in the LTL formula,an accepting path is derived first to provide a high-level solution for the controller synthesis ***,we develop a dynamic quantization based approach to verify the realization of the accepting *** realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller ***,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control *** abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational *** each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing ***,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.