On abstraction-based controller design with output feedback

Majumdar, Rupak; Özay, Necmiye; Schmuck, Anne-Kathrin

doi:10.1145/3365365.3382219

Cited by 23 publications

(12 citation statements)

References 32 publications

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“…The closest works to this article are in [45]- [48]. In [45,46], the authors use state-based strong alternating approximate simulation relations to relate concrete systems with their abstractions.…”

Section: Related Workmentioning

confidence: 99%

A Framework for Output-Feedback Symbolic Control

Khaled¹,

Zhang²

2020

Preprint

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Symbolic control is a an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Current methodologies of symbolic control usually assume that full-state information is available. This is not suitable for many real-world applications with partially-observable states or output information. This article introduces a framework for output-feedback symbolic control. We propose relations between original systems and their symbolic models based on outputs. They enable designing symbolic controllers and refining them to enforce complex requirements on original systems. To demonstrate the effectiveness of the proposed framework, we provide three different methodologies. They are applicable to a wide range of linear and nonlinear systems, and support general logic specifications.

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Section: Related Workmentioning

confidence: 99%

A Framework for Output-Feedback Symbolic Control

Khaled¹,

Zhang²

2020

Preprint

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“…Instead of verification, one alternative is to start with the plant model and close the loop by directly synthesizing a correct-by-construction controller, which achieves the specification provably. However, the synthesis problem is also challenging, especially when the controller does not have perfect information of the state of the world [9], [32], [? ].…”

Section: Introductionmentioning

confidence: 99%

Synthesis-guided Adversarial Scenario Generation for Gray-box Feedback Control Systems with Sensing Imperfections

Yang

Özay

2021

ACM Trans. Embed. Comput. Syst.

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In this paper, we study feedback dynamical systems with memoryless controllers under imperfect information. We develop an algorithm that searches for “adversarial scenarios”, which can be thought of as the strategy for the adversary representing the noise and disturbances, that lead to safety violations. The main challenge is to analyze the closed-loop system's vulnerabilities with a potentially complex or even unknown controller in the loop. As opposed to commonly adopted approaches that treat the system under test as a black-box, we propose a synthesis-guided approach, which leverages the knowledge of a plant model at hand. This hence leads to a way to deal with gray-box systems (i.e., with known plant and unknown controller). Our approach reveals the role of the imperfect information in the violation. Examples show that our approach can find non-trivial scenarios that are difficult to expose by random simulations. This approach is further extended to incorporate model mismatch and to falsify vision-in-the-loop systems against finite-time reach-avoid specifications.

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“…Some recent works on observer/estimator-based abstractions for control with partial information can be found in [27], [28], [29], [30], [31]. The observer design can be realized from the initial dynamic system as it is done in [27] and [28] where discrete-time linear systems with LTL specifications, and a class of discrete-time piecewise-affine systems with a robust interpretation of LTL were considered respectively.…”

Section: Introductionmentioning

confidence: 99%

“…In comparison, in the current work, the approach allows considering linear and non-linear systems with uncertainties. In another way, the estimation of the non-measurable states can also be done at the symbolic level as it has been done works [29], [30], [31] but this demands the use of more computational resources due to the handling of sets of symbolic states as estimators.…”

Section: Introductionmentioning

confidence: 99%

Symbolic Observer-Based Controller for Uncertain Nonlinear Systems

Apaza-Perez

Girard

Combastel

et al. 2021

IEEE Control Syst. Lett.

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Symbolic control is an approach to the control of continuous or hybrid systems with specifications expressed in a logic form. This approach is based on the use of symbolic models describing the dynamical system behavior with a finite description of the transition relation between its states. In the literature, many results using this approach assume the availability of full and exact information about the system states to compute the control actions. In this paper, we consider a more realistic scenario where only partial information about the plant states is available. This paper proposes an abstraction that makes it possible to synthesize output-feedback controllers. The presence of disturbances and output noise is also considered. A direct path between observer designs in the classical theory and control synthesis in formal methods is established and a numerical example is provided to illustrate the results.

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On abstraction-based controller design with output feedback

Cited by 23 publications

References 32 publications

A Framework for Output-Feedback Symbolic Control

A Framework for Output-Feedback Symbolic Control

Synthesis-guided Adversarial Scenario Generation for Gray-box Feedback Control Systems with Sensing Imperfections

Symbolic Observer-Based Controller for Uncertain Nonlinear Systems

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