Professional Documents
Culture Documents
Sayan Mitra MIT Hybrid Systems: Computation and Control Prague, Czech Republic 2003
Joint work with Yong Wang (U. Beijing), Nancy Lynch, Eric Feron
HSCC 03 MIT LCS
Verification Techniques
Algorithmic
Model checking e.g. [Alur, et al. 95]
Automatic: HyTech Essentially for finite-state systems, subclass of linear hybrid systems
Deductive
Invariant assertions, simulation relations e.g. [Manna, Sipma 98]
Can accommodate infinite-state systems: STeP Requires human effort
User interaction
HSCC 03
MIT LCS
Talk Outline
Introduction Hybrid I/O Automata definitions Specification of Quanser Safety Verification Conclusions
HSCC 03
MIT LCS
HSCC 03
MIT LCS
Execution:
HSCC 03
HSCC 03
MIT LCS
Helicopter System
Actuator buffer, u
dequeue
Plant 0 , 1
0 , 1
Supervisor mode, Xs , S, rt
HSCC 03
Useroutput(Xu)
UserCntrl
Xu
MIT LCS
Plant
Variables:
0 : Pitch angle 1: Pitch velocity
Trajectories:
evolve: d(0) = 1 d(1) = -2cos 0 + U
Plant
0 , 1
0 ,1
Sensor
Discrete transition:
Sample(0d , 1
d
0 ,1
Nondeterministic choice
Trajectories:
evolve: d(now) = 1 stopping condition: now = next
HSCC 03
MIT LCS
User Controller
Arbitrarily bad user On receiving Sample,
Useroutput(Xu) Non deterministic choice, Xu [Umin, Umax ]
HSCC 03
MIT LCS
Actuator
Actuator delay Ta
modeled as a FIFO queue of Supervisor(User) outputs buffer: length [Ta / ]
Ta
HSCC 03
MIT LCS
min
0
Assumption: Cannot cross I in time.
max
HSCC 03
MIT LCS
Supervisor
Supervisor
Command(S)
Sample
Userout(Xu)
mode, Xs , S, rt
HSCC 03
MIT LCS
Safety Verification
Assertional Proofs
Reasoning based on current state of the system
HSCC 03
Key Lemmas
All trajectories are closed Any trajectory T, ltime() - ftime() .
HSCC 03
MIT LCS
User mode
1
A2 A1 A A0
R U
A0 = R For 0 t t
At At
U A
HSCC 03
MIT LCS
User mode
Safety Any reachable state in the user mode is within R. Proof:
Discrete part is easy Any closed trajectory T, if fstate() At then lstate() At-ltime().
HSCC 03
MIT LCS
HSCC 03
MIT LCS
Supervisor mode
Correct input to plant
If s is above I+ then last [rt/] entries in buffer are Umin
rt: stopwatch for supervisor mode
Similarly, s is below I- then Umax Settling phase rt Ta Any reachable state is within C
All trajectories starting from within R remains within C Proof similar to User mode
HSCC 03
MIT LCS
Conclusions
Design of supervisory controller
Controller has been implemented [Ishutkina].
Current/Future Work
Performance guarantees for mobile computing algorithms Theorem prover support
HSCC 03 MIT LCS
Thank You.
Questions
?
HSCC 03 MIT LCS
HSCC 03
MIT LCS
Current/Future Work
Incorporate control theory methods:
Invariant sets, Stability analysis using Lyapunov functions, robust control methods.
More examples:
Systems with more complicated discrete behavior and dynamics, e.g. mobile computing, embedded systems.
HSCC 03
MIT LCS