论文标题
基于动态量化的非线性控制系统的符号抽象
Dynamic Quantization based Symbolic Abstractions for Nonlinear Control Systems
论文作者
论文摘要
本文通过动态量化研究了非线性控制系统的动态符号抽象的构建。由于计算复杂性是使用离散抽象的基本问题，因此首先将具有随时间变化的量化参数的动态量化器应用于解决此问题。由于动态量化，因此为状态和输入集提出了动态近似方法。基于动态近似，为非线性控制系统构建了动态符号抽象，并保证了原始系统和构造的动态符号抽象的近似分配关系。最后，通过移动机器人的路径计划的数值示例来说明所获得的结果。
This paper studies the construction of dynamic symbolic abstractions for nonlinear control systems via dynamic quantization. Since computational complexity is a fundamental problem in the use of discrete abstractions, a dynamic quantizer with a time-varying quantization parameter is first applied to deal with this problem. Due to the dynamic quantizer, a dynamic approximation approach is proposed for the state and input sets. Based on the dynamic approximation, dynamic symbolic abstractions are constructed for nonlinear control systems, and an approximate bisimulation relation is guaranteed for the original system and the constructed dynamic symbolic abstraction. Finally, the obtained results are illustrated through a numerical example from path planning of mobile robots.
