Periodically Controlled Hybrid Systems

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.

• Type: Conference
• Year: 2009
• Where: HYBRID
• Authors: Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew G. Lamperski
• Keywords: Control Actions, HYBRID 2009, Hybrid Automata, Hybrid Control Systems, Hybrid Systems