Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published October 21, 2008 | Accepted Version
Report Open

Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle

Abstract

This paper introduces Periodically Controlled Hybrid Automata (PCHA) for describing a class of hybrid control systems. In a PCHA, control actions occur roughly periodically while internal and input actions, may occur in the interim changing the discrete-state or the setpoint. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariance of PCHAs is presented. This technique is used in verifying safety of the planner-controller subsystem of an autonomous ground vehicle, and in deriving geometric properties of planner generated paths that can be followed safely by the controller under environmental uncertainties.

Attached Files

Accepted Version - main-full.pdf

Files

main-full.pdf
Files (424.7 kB)
Name Size Download all
md5:015b85c1f3f44cb333875a1261246228
424.7 kB Preview Download

Additional details

Created:
August 19, 2023
Modified:
October 24, 2023