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Kunihiko HIRAISHI 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
DES(Discrete Event Systems) are a class of systems in which occurrence of events drive systems. Each event occurs at an instant in time and marks a change of state in the system. Theory of DES provides basis for design and analysis of software/handware systems with discrete stats. In this paper, we describe how the theory and algorithms on DES can contribute to design of highly-dependable embedded systmes.
A Faster Approximation Technique for Predicate Abstraction of Hybrid Systems
Kunihiko HIRAISHI,Koichi KOBAYASHI 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Predicate abstraction is a powerful technique for extracting finite-state models from infinite-state systems, and is applied to verification of safety properties. In this paper, we propose a technique that can be used for accelerating the computation of abstract state spaces for hybrid system. The technique is based on upper approximation of the state transition relation, and requires a polynomial number of reachability checks and Boolean operations to compute the abstract state space consisting of a (possibly) exponential number of abstract states.
Probabilistic-Constrained Optimal Control of a Class of Stochastic Hybrid Systems
Koichi Kobayashi,Koichiro Matou,Kunihiko Hiraishi 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.5
Stochastic hybrid systems have several applications such as biological systems and communication networks, but it is difficult to consider control of general stochastic hybrid systems. In this paper, a class of discrete-time stochastic hybrid systems, in which only discrete dynamics are stochastic, is considered. For this system, a solution method for the optimal control problem with probabilistic constraints is proposed. Probabilistic constraints guarantee that the probability that the continuous state reaches a given unsafe region is less than a given constant. In the propose method, first, continuous state regions, from which the state reaches a given unsafe region, are computed by a backward-reachability graph. Next, mixed integer quadratic programming problems with constraints derived from the backward-reachability graph are solved. The proposed method can be applied to model predictive control.
On-line and Off-line Based Approximation Algorithm for Model Predictive Control of Hybrid Systems
Koichi Kobayashi,Nguyen Van Tang,Kunihiko Hiraishi 대한전자공학회 2008 ITC-CSCC :International Technical Conference on Ci Vol.2008 No.7
In this paper, a new approximate algorithm for model predictive control of hybrid systems is proposed. The proposed algorithm consists of the off-line computation and the on-line computation. In the off-line computation, lower and upper bounds of the optimal value of a given cost function for each mode sequence are calculated. In the on-line computation, after the mode sequence is decided by using off-line computation results, the finite-time optimal control problem, i.e., the quadratic programming problem is solved. So the reduction of the computation time in the on-line computation is achieved. In this paper, the effectiveness of the proposed algorithm is shown by a numerical example.
Stabilizing Model Predictive Control of Hybrid Systems with Discrete Dynamics
Koichi Kobayashi,Jun-ichi Imura,Kunihiko Hiraishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper discusses the stabilization problem of hybrid systems using control Lyapunov functions(CLFs). ACLF approach is one of the powerful method sin thest abilization of nonlinear systems. However, there are a few results for the stabilization of hybrid systems. In this paper, to develop stability theory of hybrid systems with discrete dynamics, a construction method of a CLF is proposed. Furthermore, based on the obtained CLF, a stabilizing model predictive control algorithm is alsoproposed. Finally, the effectiveness of the proposed method is shown by a numerical example.