Periodically controlled hybrid systems verifying a controller for an autonomous vehicle

Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper introduces Periodically Controlled Hybrid Automata (PCHA) for describing a class of hybrid control systems. In a PCHA, control actions occur roughly periodically while internal and input actions may occur in the interim changing the discrete-state or the setpoint. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariance of PCHAs is presented. This technique is used in verifying safety of the planner-controller subsystem of an autonomous ground vehicle, and in deriving geometric properties of planner generated paths that can be followed safely by the controller under environmental uncertainties.

Original languageEnglish (US)
Title of host publicationHybrid Systems
Subtitle of host publicationComputation and Control - 12th International Conference, HSCC 2009, Proceedings
Pages396-410
Number of pages15
DOIs
StatePublished - Jul 15 2009
Event12th International Conference on Hybrid Systems: Computation and Control, HSCC 2009 - San Francisco, CA, United States
Duration: Apr 13 2009Apr 15 2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5469
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other12th International Conference on Hybrid Systems: Computation and Control, HSCC 2009
CountryUnited States
CitySan Francisco, CA
Period4/13/094/15/09

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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