2 research outputs found
Supervisory Control of Probabilistic Discrete Event Systems under Partial Observation
The supervisory control of probabilistic discrete event systems (PDESs) is
investigated under the assumptions that the supervisory controller (supervisor)
is probabilistic and has a partial observation. The probabilistic P-supervisor
is defined, which specifies a probability distribution on the control patterns
for each observation. The notions of the probabilistic controllability and
observability are proposed and demonstrated to be a necessary and sufficient
conditions for the existence of the probabilistic P-supervisors. Moreover, the
polynomial verification algorithms for the probabilistic controllability and
observability are put forward. In addition, the infimal probabilistic
controllable and observable superlanguage is introduced and computed as the
solution of the optimal control problem of PDESs. Several examples are
presented to illustrate the results obtained.Comment: 36 pages, comments are welcom
A Hybrid Systems-based Hierarchical Control Architecture for Heterogeneous Field Robot Teams
Field robot systems have recently been applied to a wide range of research
fields. Making such systems more automated, advanced, and activated requires
cooperation among heterogeneous robots. Classic control theory is inefficient
in managing large-scale complex dynamic systems. Therefore, the supervisory
control theory based on discrete event system needs to be introduced to
overcome this limitation. In this study, we propose a hybrid systems-based
hierarchical control architecture through a supervisory control-based
high-level controller and a traditional control-based low-level controller. The
hybrid systems and its dynamics are modeled through a formal method called
hybrid automata, and the behavior specifications expressing the control
objectives for cooperation are designed. Additionally, a modular supervisor
that is more scalable and maintainable than a centralized supervisory
controller was synthesized. The proposed hybrid systems and hierarchical
control architecture were implemented, validated, and then evaluated for
performance through the physics-based simulator. Experimental results confirmed
that the heterogeneous field robot team satisfied the given specifications and
presented systematic results, validating the efficiency of the proposed control
architecture.Comment: 23pages, 19 figures, submitted for publicatio