Characterizing Sliding Surfaces of Cyber-Physical Systems
  • Metaadatok
Tartalom: https://cyber.bibl.u-szeged.hu/index.php/actcybern/article/view/4060
Archívum: Acta Cybernetica
Gyűjtemény: Interval Methods in Control and Robotics
Cím:
Characterizing Sliding Surfaces of Cyber-Physical Systems
Létrehozó:
Jaulin, Luc
Le Bars, Fabrice
Kiadó:
University of Szeged, Institute of Informatics
Dátum:
2020-03-16
Téma:
interval analysis
verification
robotics
sailboat
Tartalmi leírás:
When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution function of the closed-loop system is not anymore piecewise continuous along the trajectory, mainly due to if statements inside the control algorithm. As a consequence, an unwanted chattering effect may occur. This behavior is often difficult to observe even in simulation. We propose here a set-membership method based on interval analysis to detect different types of discontinuities. One of them is the sliding surface where the state trajectory jumps indefinitely between two distinct behaviors. As an application, we consider the validation of a sailboat controller. We show that our approach is able to detect and explain some unwanted sliding effects that may be observed in rare and specific situations on our actual sailboat robots.
Nyelv:
angol
Típus:
info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
Formátum:
application/pdf
Azonosító:
10.14232/actacyb.24.3.2020.9
Forrás:
Acta Cybernetica; Vol 24 No 3 (2020): Special Issue of the 11th Summer Workshop on Interval Methods; 431-448
2676-993X
0324-721X
Kapcsolat: