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Symbolic Control of Dynamic Systems: from control quanta to control encoding

In this talk I will consider dynamical systems characterized by having a continuous state space but a discrete input and/or output set, due e.g. to actuator/sensor quantization or to the logic nature of commands. Such systems arise naturally in some applications, and present some system-theoretic peculiarities which are multifaceted. Indeed, while discreteness of inputs may limit performance under some regards, in some cases it does have useful implications. As it turns out, the study of quantized systems offers motivations for purposefully introducing control discretization even for classical continuous systems. In particular, I will consider the problem of steering physical plants, consisting of dynamic systems capable of complex behaviours, by hierarchically abstracted levels of decision, planning and supervision, i.e. by logic control. The main concern here is to build efficient finite-length plans to steer a complex dynamical system among equilibria in its state space: steering efficiency is intended here as the possibility of compactly representing the set of reachable states, and quickly computing reference plans to move amongst them. By introducing suitable control encodings for a symbolic input language, the goal of efficient finite-length steering can be achieved for some general and important classes of dynamical systems, including all differentially flat systems. Applications to planning for multitrailer vehicles and underactuated mechanical systems will be discussed.
Type of Seminar:
Public Seminar
Prof. Antonio Bicchi
University of Pisa, Italy
Dec 21, 2005   10:45

ETH-Zentrum, Main Building Room HG F 33.1 , Rämistrasse 101, Zurich
Contact Person:

Prof. L. Guzzella
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