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| Received:July 28, 2009Revised:January 27, 2010 |
| 基金项目:This paper was sponsored by the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry of China. |
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| Piecewise output feedback control for affine systems with disturbances based on linear temporal logic specifications |
| Min WU,Gangfeng YAN,Zhiyun LIN |
| (Asus Intelligent Systems Laboratory, Department of Systems Science and Engineering, Zhejiang University) |
| Abstract: |
| In the paper, we investigate the problem of finding a piecewise output feedback control law for an uncertain affine system such that the resulting closed-loop output satisfies a desired linear temporal logic (LTL) specification. A twolevel hierarchical approach is proposed to solve the problem in a triangularized output space. In the lower level, we explore whether there exists a robust output feedback control law to make the output starting in a simplex either remains in it or leaves via a specific facet. In the higher level, for the triangularization, we construct the transition system according to the reachability relationship obtained in the lower level and search for feasible paths that meet the LTL specification. The control approach is then applied to solve a motion planning problem. |
| Key words: Reachability Piecewise output feedback control Affine systems Linear temporal logic |
