Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization  

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

机构地区：[1]the Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education,Dalian University of Technology [2]the School of Control Science and Engineering,Dalian University of Technology,Dalian 116024,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第10期2082-2098,共17页自动化学报（英文版）

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).

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 challenge.In this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL specifications.Based 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 problem.Second,we develop a dynamic quantization based approach to verify the realization of the accepting path.The realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller design.Third,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control strategy.Both abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational complexity.Since 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 methods.Finally,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.

关 键 词：Abstraction-based control design dynamic quantization formal methods linear temporal logic(LTL) 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]