Robust discrete synthesis against unspecified disturbances

Majumdar, Rupak; Render, Elaine; Tabuada, Paulo

doi:10.1145/1967701.1967732

Cited by 32 publications

(26 citation statements)

References 23 publications

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“…The focus of [13,24] is on the design of discrete controllers for finite transition systems (namely, discrete synthesis) against unmodeled disturbances or transitions, whereas the current paper aims to establish robustness of discrete controllers against imperfect measurements and unmodeled dynamics in the continuous plants.…”

Section: Related Workmentioning

confidence: 99%

Abstraction, discretization, and robustness in temporal logic control of dynamical systems

Özay

2014

Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control

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Abstraction-based, hierarchical approaches to control synthesis from temporal logic specifications for dynamical systems have gained increased popularity over the last decade. Yet various issues commonly encountered and extensively dealt with in control systems have not been adequately discussed in the context of temporal logic control of dynamical systems, such as inter-sample behaviors of a sampled-data system, effects of imperfect state measurements and unmodeled dynamics, and the use of time-discretized models to design controllers for continuous-time dynamical systems. We discuss these issues in this paper. The main motivation is to demonstrate the possibility of accounting for the mismatches between a continuous-time control system and its various types of abstract models used for control synthesis. We do this by incorporating additional robustness measures in the abstract models. Such robustness measures are gained at the price of either increased nondeterminism in the abstracted models or relaxed versions of the specification being realized. Under a unified notion of abstraction, we provide concrete means of incorporating these robustness measures and establish results that demonstrate their effectiveness in dealing with the above mentioned issues.

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Section: Related Workmentioning

confidence: 99%

Abstraction, discretization, and robustness in temporal logic control of dynamical systems

Özay

2014

Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control

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“…In [9,13], the robustness considered is in terms of bounded input-output deviation. is relates directly to the prevalent notion in control for robustness [16], where controllers are designed to ensure bounded disturbances lead to bounded deviations from nominal-behavior for the system.…”

Section: Iccps Pi Sburgh Pa Usamentioning

confidence: 99%

Enhancing tolerance to unexpected jumps in GR(1) games

Dathathri

Livingston²,

Murray

2017

Proceedings of the 8th International Conference on Cyber-Physical Systems

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zWhen used as part of a hybrid controller, nite-memory strategies synthesized from linear-time temporal logic (LTL) speci cations rely on an accurate dynamics model in order to ensure correctness of trajectories. In the presence of uncertainty about the underlying model, there may exist unexpected trajectories that manifest as unexpected transitions under control of the strategy. While some disturbances can be captured by augmenting the dynamics model, such approaches may be conservative in that bisimulations may fail to exist for which strategies can be synthesized. In this paper, we consider games of the GR(1) fragment of LTL, and we characterize the tolerance of hybrid controllers to perturbations that appear as unexpected jumps (transitions) to states in the discrete strategy part of the controller. As a rst step, we show robustness to certain unexpected transitions that occur in a nite manner, i.e., despite a certain number of unexpected jumps, the sequence of states obtained will still meet a stricter speci cation and hence the original speci cation. Additionally, we propose algorithms to improve robustness by increasing tolerance to additional disturbances. A robot gridworld example is presented to demonstrate the application of the developed ideas and also to perform empirical analysis. CCS CONCEPTS•Computing methodologies →Arti cial intelligence; •So ware and its engineering →Formal methods;

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“…Recent work that explicitly designs controllers for stochastic systems [10], [18] does not consider robustness. Robustness of non-probabilistic discrete transition systems to disturbances is explored in [20].…”

Section: Introductionmentioning

confidence: 99%

Robust control of uncertain Markov Decision Processes with temporal logic specifications

Wolff

Topcu

Murray

2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

125

121

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Abstract-We present a method for designing robust controllers for dynamical systems with linear temporal logic specifications. We abstract the original system by a finite Markov Decision Process (MDP) that has transition probabilities in a specified uncertainty set. A robust control policy for the MDP is generated that maximizes the worst-case probability of satisfying the specification over all transition probabilities in the uncertainty set. To do this, we use a procedure from probabilistic model checking to combine the system model with an automaton representing the specification. This new MDP is then transformed into an equivalent form that satisfies assumptions for stochastic shortest path dynamic programming. A robust version of dynamic programming allows us to solve for a -suboptimal robust control policy with time complexity O(log1 ) times that for the non-robust case. We then implement this control policy on the original dynamical system.

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Robust discrete synthesis against unspecified disturbances

Cited by 32 publications

References 23 publications

Abstraction, discretization, and robustness in temporal logic control of dynamical systems

Abstraction, discretization, and robustness in temporal logic control of dynamical systems

Enhancing tolerance to unexpected jumps in GR(1) games

Robust control of uncertain Markov Decision Processes with temporal logic specifications

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