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The Composition and Validation of Heterogeneous Control Laws

Kuipers, Benjamin and Åström, Karl Johan LU (1994) In Automatica 30(2). p.233-249
Abstract
We present a method for creating and validating a nonlinear controller by the composition of heterogeneous local control laws appropriate to different operating regions. Like fuzzy logic control, these methods apply even in the presence of incomplete knowledge of the structure of the system, the boundaries of the operating regions, or even the control action to take. Unlike fuzzy logic control, these methods can be analyzed by a combination of classical and qualitative methods. Each operating region of the system has a classical control law, which provides high-resolution control and can be analyzed by classical methods. Operating regions are defined by fuzzy set membership functions. The global control law is the weighted average of the... (More)
We present a method for creating and validating a nonlinear controller by the composition of heterogeneous local control laws appropriate to different operating regions. Like fuzzy logic control, these methods apply even in the presence of incomplete knowledge of the structure of the system, the boundaries of the operating regions, or even the control action to take. Unlike fuzzy logic control, these methods can be analyzed by a combination of classical and qualitative methods. Each operating region of the system has a classical control law, which provides high-resolution control and can be analyzed by classical methods. Operating regions are defined by fuzzy set membership functions. The global control law is the weighted average of the local control laws, where the weights are provided by the operating region membership functions. A heterogeneous control law can be analyzed, even in the presence of incomplete knowledge, by representing it as a qualitative differential equation and using qualitative simulation to predict the set of possible behaviors of the system. By expressing the desired guarantee as a statement in a modal temporal logic, the validity of the guarantee can be automatically checked against the set of possible behaviors. We demonstrate heterogeneous controllers and our qualitative methods for proving their properties, first for a simple level controller for a water tank, and second for a highly nonlinear chemical reactor. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
Automatica
volume
30
issue
2
pages
233 - 249
publisher
Pergamon
external identifiers
  • scopus:0028378098
ISSN
0005-1098
DOI
10.1016/0005-1098(94)90027-2
language
English
LU publication?
yes
id
0fb4b660-fb42-4f9c-9805-b25e881181ad (old id 8496924)
date added to LUP
2016-01-03 09:47:56
date last changed
2019-01-06 12:03:47
@article{0fb4b660-fb42-4f9c-9805-b25e881181ad,
  abstract     = {We present a method for creating and validating a nonlinear controller by the composition of heterogeneous local control laws appropriate to different operating regions. Like fuzzy logic control, these methods apply even in the presence of incomplete knowledge of the structure of the system, the boundaries of the operating regions, or even the control action to take. Unlike fuzzy logic control, these methods can be analyzed by a combination of classical and qualitative methods. Each operating region of the system has a classical control law, which provides high-resolution control and can be analyzed by classical methods. Operating regions are defined by fuzzy set membership functions. The global control law is the weighted average of the local control laws, where the weights are provided by the operating region membership functions. A heterogeneous control law can be analyzed, even in the presence of incomplete knowledge, by representing it as a qualitative differential equation and using qualitative simulation to predict the set of possible behaviors of the system. By expressing the desired guarantee as a statement in a modal temporal logic, the validity of the guarantee can be automatically checked against the set of possible behaviors. We demonstrate heterogeneous controllers and our qualitative methods for proving their properties, first for a simple level controller for a water tank, and second for a highly nonlinear chemical reactor.},
  author       = {Kuipers, Benjamin and Åström, Karl Johan},
  issn         = {0005-1098},
  language     = {eng},
  number       = {2},
  pages        = {233--249},
  publisher    = {Pergamon},
  series       = {Automatica},
  title        = {The Composition and Validation of Heterogeneous Control Laws},
  url          = {http://dx.doi.org/10.1016/0005-1098(94)90027-2},
  volume       = {30},
  year         = {1994},
}