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线性时序逻辑约束下的滚动时域控制路径规划 被引量:2
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作者 焦梦甜 宋运忠 《智能系统学报》 CSCD 北大核心 2020年第2期281-288,共8页
针对有限确定性系统中的路径规划问题,本文提出了一种线性时序逻辑约束下的在线实时求解滚动时域控制的新方法。该方法将滚动时域控制方法和满足线性时序逻辑公式的策略相结合,控制目标是在满足高级别任务规范的同时,使收集的累积回报... 针对有限确定性系统中的路径规划问题,本文提出了一种线性时序逻辑约束下的在线实时求解滚动时域控制的新方法。该方法将滚动时域控制方法和满足线性时序逻辑公式的策略相结合,控制目标是在满足高级别任务规范的同时,使收集的累积回报值最大化。其中,在有限时域内的每个时间步长上局部优化回报值,并应用当前时刻计算获得的最优控制序列。通过执行适当的约束,保证控制器产生的无限轨迹满足期望的时序逻辑公式。而且,由于地势影响因子的引入,所建议的方案更接近于真实情况。仿真实验结果验证了文中提出方法的可行性和有效性。 展开更多
关键词 线性时序逻辑 滚动时域控制 路径规划 最优控制 有限确定性系统 BÜCHI自动机 Product自动机 地势影响因子
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Robust Model Predictive Controller Design: Finite and Infinite Horizon
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作者 Vojtech Vesely Daniel Vozak 《Journal of Mathematics and System Science》 2015年第11期449-458,共10页
This paper addresses to the problem of designing, modeling and practical realization of robust model predictive control for finite and infinite prediction horizon which ensures a parameter dependent quadratic stabilit... This paper addresses to the problem of designing, modeling and practical realization of robust model predictive control for finite and infinite prediction horizon which ensures a parameter dependent quadratic stability and guaranteed cost for linear polytopic uncertain systems. The model predictive controller design procedure based on BMI and LMI is reduced to off-line output feedback gain calculation. A numerical examples and an application to a real process is given to illustrate the effectiveness of the proposed method. 展开更多
关键词 MPC robust stability polytopic model LMI output feedback infinite horizon
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Finite Axiomatization for Symbolic Probabilistic π-Calculus
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作者 宋磊 邓玉欣 《Journal of Shanghai Jiaotong university(Science)》 EI 2009年第5期536-541,共6页
This paper focuses on the problem of seeking complete axiomatization for finite processes in the process calculus called symbolic probabilistic π-calculus introduced by Wu,Palamidessi and Lin.We provide inference sys... This paper focuses on the problem of seeking complete axiomatization for finite processes in the process calculus called symbolic probabilistic π-calculus introduced by Wu,Palamidessi and Lin.We provide inference systems for both strong and weak symbolic probabilistic bisimulations and also prove their soundness and completeness.This is the first work,to our knowledge,that provides complete axiomatization for symbolic probabilistic bisimulations in the presence of both nondeterministic and probabilistic choice. 展开更多
关键词 probabilistic process calculus AXIOMATIZATION symbolic bisimulation
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