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On distributed symbolic control of interconnected systems under persistency specifications

Apaza-Perez W. Alejandro, Combastel Christophe, Zolghadri Ali

International Journal of Applied Mathematics and Computer Science

2020

Vol. 30, no. 4

629--639

This paper presents an abstraction-based technique to solve the problem of distributed controller design enforcing persistency specifications for interconnected systems. For each subsystem, controller synthesis is based on local distributed sensor information from other subsystems. An effective method is presented for quantification of such partial information in an abstraction in terms of level sets of Lyapunov-like ranking functions. The results are illustrated on a laboratory hydraulic system.

Coherent Adaptive and Rational Action Selection Problem Solution for Mobile Robots

Szynkarczyk P.

Journal of Automation Mobile Robotics and Intelligent Systems

2007

Vol. 1, No. 1

54-65

The article deals with the issue of controlling the autonomous mobile systems. Considered are problems focusing around the use of distributed architecture controllers. In contrary to hierarchical architecture, all layers of distributed controller are operating simultaneously, and have an access to both: the sensors (receptors), as well as to the executing systems (effectors) of controlled autonomous mobile system. Simultaneous operation of all layers of the distributed architecture controller entails arising of so called action selection problem. This problem consists in continuous taking of decisions: which one of the layers, or which layers of controller, at given moment should have an influence on the movement of controlled object. Discussed is the proposal of a new solution of this problem. Presented are results of experiments with the use of mobile robot.