Matthias Rungger
ABSTRACT
We introduce SCOTS a software tool for the automatic controller synthesis for nonlinear control systems based on symbolic models, also known as discrete abstractions. The tool accepts a differential equation as the description of a nonlinear control system. It uses a Lipschitz type estimate on the right-hand-side of the differential equation together with a number of discretization parameters to compute a symbolic model that is related with the original control system via a feedback refinement relation. The tool supports the computation of minimal and maximal fixed points and thus natively provides algorithms to synthesize controllers with respect to invariance and reachability specifications. The atomic propositions, which are used to formulate the specifications, are allowed to be defined in terms of finite unions and intersections of polytopes as well as ellipsoids. While the main computations are done in C++, the tool contains a Matlab interface to simulate the closed loop system and to visualize the abstract state space together with the atomic propositions. We illustrate the performance of the tool with two examples from the literature. The tool and all conducted experiments are available at www.hcs.ei.tum.de.
- P. Tabuada and G. J. Pappas. "Linear Time Logic Control of Discrete-Time Linear Systems". In: IEEE TAC 51 (2006), pp. 1862--1877.Google Scholar
- A. Abate et al. "Computational approaches to reachability analysis of stochastic hybrid systems". In: HSCC. Springer, 2007, pp. 4--17. {3} M. Kloetzer and C. Belta. "A fully automated framework for control of linear systems from temporal logic specifications". In: IEEE TAC 53 (2008), pp. 287--297. Google ScholarDigital Library
- P. Tabuada. Verification and Control of Hybrid Systems { A Symbolic Approach. Springer, 2009. Google ScholarDigital Library
- G. E. Fainekos et al. "Temporal logic motion planning for dynamic robots". In: Automatica 45 (2009), pp. 343--352. Google ScholarDigital Library
- G. Reißig. "Computing abstractions of nonlinear systems". In: IEEE TAC 56 (2011), pp. 2583--2598.Google Scholar
- A. Girard. "Controller synthesis for safety and reachability via approximate bisimulation". In: Automatica 48 (2012), pp. 947--953. Google ScholarDigital Library
- T. Wongpiromsarn, U. Topcu, and R. M. Murray. "Receding Horizon Temporal Logic Planning". In: IEEE TAC 57 (2012), pp. 2817--2830.Google Scholar
- M. Zamani et al. "Symbolic Models for Nonlinear Control Systems Without Stability Assumptions". In: IEEE TAC 57 (2012), pp. 1804--1809.Google Scholar
- B. Yordanov et al. "Temporal logic control of discrete-time piecewise affine systems". In: IEEE TAC 57 (2012), pp. 1491--1504.Google Scholar
- M. Rungger, M. Jr. Mazo, and P. Tabuada. "Specification-Guided Controller Synthesis for Linear Systems and Safe Linear-Time Temporal Logic". In: HSCC. ACM, 2013, pp. 333--342. Google ScholarDigital Library
- J. Liu et al. "Synthesis of Reactive Switching Protocols From Temporal Logic Specifications". In: IEEE TAC 58 (2013), pp. 1771--1785.Google Scholar
- M. Zamani et al. "Symbolic control of stochastic systems via approximately bisimilar finite abstractions". In: IEEE TAC 59.12 (2014).Google Scholar
- M. Jr. Mazo, A. Davitian, and P. Tabuada. "Pessoa: A tool for embedded controller synthesis". In: Computer Aided Verification. Springer. 2010, pp. 566--569. Google ScholarDigital Library
- S. Mouelhi, A. Girard, and G. Gössler. "CoSyMA: a tool for controller synthesis using multi-scale abstractions". In: HSCC. ACM. 2013, pp. 83--88. Google ScholarDigital Library
- C. Finucane, G. Jing, and H. Kress-Gazit. "LTLMoP: Experimenting with language, temporal logic and robot control". In: IROS. IEEE. 2010, pp. 1988--1993.Google Scholar
- T. Wongpiromsarn et al. "TuLiP: a software toolbox for receding horizon temporal logic planning". In: HSCC. ACM. 2011, pp. 313--314. Google ScholarDigital Library
- N. Piterman, A. Pnueli, and Y. Saár. "Synthesis of reactive (1) designs". In: Verification, Model Checking, and Abstract Interpretation. 2006. Google ScholarDigital Library
- A. Girard, G. Pola, and P. Tabuada. "Approximately bisimilar symbolic models for incrementally stable switched systems". In: IEEE TAC 55.1 (2010), pp. 116--126.Google Scholar
- G. Reißig, A. Weber, and M. Rungger. Feedback Refinement Relations for the Synthesis of Symbolic Controllers. 2015. arXiv: 1503.03715v1.Google Scholar
- R. E. Bryant. "Symbolic Boolean manipulation with ordered binary-decision diagrams". In: ACM Computing Surveys 24.3 (1992), pp. 293--318. Google ScholarDigital Library
- F. Somenzi. "CUDD: CU decision diagram package". In: University of Colorado at Boulder (1998).Google Scholar
- R. T. Rockafellar and R. J.-B. Wets. Variational analysis. Vol. 317. 3rd corr printing 2009. Springer, 1998.Google Scholar
- G. Gallo et al. "Directed hypergraphs and applications". In: Discrete Applied Mathematics 42 (1993), pp. 177--201. Google ScholarDigital Library
Index Terms
- SCOTS: A Tool for the Synthesis of Symbolic Controllers
Recommendations
pFaces: an acceleration ecosystem for symbolic control
HSCC '19: Proceedings of the 22nd ACM International Conference on Hybrid Systems: Computation and ControlThe correctness of control software in many safety-critical applications such as autonomous vehicles is crucial. One technique to achieve correct control software is called "symbolic control", where complex systems are approximated by finite-state ...
Brief paper: Controller synthesis for safety and reachability via approximate bisimulation
In this paper, we consider the problem of controller design using approximately bisimilar abstractions with an emphasis on safety and reachability specifications. We propose abstraction-based approaches to controller synthesis for both types of ...
Symbolic models for retarded jump–diffusion systems
AbstractIn this paper, we provide for the first time an automated, correct-by-construction, controller synthesis scheme for a class of infinite dimensional stochastic systems, namely, retarded jump–diffusion systems. First, we construct finite ...
Comments