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Contract based Design of Symbolic Controllers for Vehicle Platooning

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HSCC '18: Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week)

Pages 277 - 278

https://doi.org/10.1145/3178126.3187001

Published: 11 April 2018 Publication History

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Abstract

In this work, we present an application of symbolic control and contract based design techniques to vehicle platooning. We use a compositional approach based on continuous-time assume-guarantee contracts. Each vehicle in the platoon is assigned an assume-guarantee contract; and a controller is synthesized using symbolic control to enforce the satisfaction of this contract. The assume-guarantee framework makes it possible to deal with different types of vehicles and asynchronous controllers (i.e controllers with different sampling periods). Numerical results illustrate the effectiveness of the approach.

References

[1]

A. Borri, D.V. Dimarogonas, K.H. Johansson, M.D. Di Benedetto, and G. Pola. 2013. Decentralized symbolic control of interconnected systems with application to vehicle platooning. IFAC Proceedings Volumes 46, 27 (2013), 285--292.

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[2]

P.-J. Meyer, A. Girard, and E. Witrant. 2017. Compositional abstraction and safety synthesis using overlapping symbolic models. IEEE Trans. Automat. Control (2017). To appear.

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[3]

A. Saoud, A. Girard, and L Fribourg. 2018. On the composition of discrete and continuous-time assume-guarantee contracts for invariance. European Control Conference.

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P. Tabuada. 2009. Verification and control of hybrid systems: a symbolic approach. Springer Science & Business Media.

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Goorden MLarsen KNielsen JNielsen TQian WRasmussen MZhao G(2023) Guaranteed safe controller synthesis for switched systems using analytical solutions * 2023 IEEE Conference on Control Technology and Applications (CCTA)10.1109/CCTA54093.2023.10252857(784-790)Online publication date: 16-Aug-2023
https://doi.org/10.1109/CCTA54093.2023.10252857
Saoud AArcak M(2023)Characterization, verification and computation of robust controlled invariants for monotone dynamical systemsMathematics of Control, Signals, and Systems10.1007/s00498-023-00368-z36:1(71-100)Online publication date: 19-Sep-2023
https://doi.org/10.1007/s00498-023-00368-z
Saoud AGirard AFribourg L(2021)Assume-guarantee contracts for continuous-time systemsAutomatica10.1016/j.automatica.2021.109910134(109910)Online publication date: Dec-2021
https://doi.org/10.1016/j.automatica.2021.109910
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Contract based Design of Symbolic Controllers for Vehicle Platooning
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Published In

HSCC '18: Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week)

April 2018

296 pages

ISBN:9781450356428

DOI:10.1145/3178126

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

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Published: 11 April 2018

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SIGBED

HSCC '18: 21st International Conference on Hybrid Systems: Computation and Control

April 11 - 13, 2018

Porto, Portugal

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Overall Acceptance Rate 153 of 373 submissions, 41%

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Goorden MLarsen KNielsen JNielsen TQian WRasmussen MZhao G(2023) Guaranteed safe controller synthesis for switched systems using analytical solutions * 2023 IEEE Conference on Control Technology and Applications (CCTA)10.1109/CCTA54093.2023.10252857(784-790)Online publication date: 16-Aug-2023
https://doi.org/10.1109/CCTA54093.2023.10252857
Saoud AArcak M(2023)Characterization, verification and computation of robust controlled invariants for monotone dynamical systemsMathematics of Control, Signals, and Systems10.1007/s00498-023-00368-z36:1(71-100)Online publication date: 19-Sep-2023
https://doi.org/10.1007/s00498-023-00368-z
Saoud AGirard AFribourg L(2021)Assume-guarantee contracts for continuous-time systemsAutomatica10.1016/j.automatica.2021.109910134(109910)Online publication date: Dec-2021
https://doi.org/10.1016/j.automatica.2021.109910
Hsu KMajumdar RMallik KSchmuck A(2019)Lazy Abstraction-Based Controller SynthesisAutomated Technology for Verification and Analysis10.1007/978-3-030-31784-3_2(23-47)Online publication date: 21-Oct-2019
https://doi.org/10.1007/978-3-030-31784-3_2
Larsen KLe Coënt AMikučionis MTaankvist J(2019)Guaranteed Control Synthesis for Continuous Systems in Uppaal TigaCyber Physical Systems. Model-Based Design10.1007/978-3-030-23703-5_6(113-133)Online publication date: 2-Jul-2019
https://doi.org/10.1007/978-3-030-23703-5_6

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Modeling the Impact of Vehicle Platooning on Highway Congestion: A Fluid Queuing Approach

Integrated Speed Harmonization and Platooning of Connected Automated Vehicles: Model Development and Large-Scale System Evaluation

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