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Advances in Automata-Switched Systems: Performance and Applications in Cyber-Physical Domains

This paper by Geir E. Dullerud from the University of Illinois explores the performance of automata-switched systems, focusing on how data-based systems can achieve "good average behavior." It discusses practical applications in cyber-physical systems such as autonomous vehicles, medical systems, and coordinated vehicle teams for both military and civilian tasks. The discussion includes the implications of random latencies and hybrid systems, as well as the design features necessary for effective control and coordination in complex environments.

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Advances in Automata-Switched Systems: Performance and Applications in Cyber-Physical Domains

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  1. Automata-Switched Systems Geir E. Dullerud University of Illinois legend.me.uiuc.edu/dullerud ARTIST2 May 31, 2007

  2. System Performance • Data-based systems: “good average behavior” • ski slopes: least congested runs • data networks: CNN • Cyber-physical systems: “good behavior w.p. 1” • cars on the highway • medical systems

  3. autonomous vehicles robotics General application domain Motivation:

  4. HoTDeC Overview

  5. Hovercraft system

  6. Vehicles: Onboard computing and control

  7. Subsystems and interconnections

  8. Movie 2: Multiple hovercraft figure 8 (applet)

  9. System latency: Wireline links

  10. System latency: Wireless link

  11. autonomous vehicles fulfillment system Example: Kiva Systems Motivation: Video courtesy Raffaello D’Andrea, Kiva Systems

  12. UAVs Teams Cooperative vehicle teams: • Military: targets, refueling, safe-zones; symmetric • Civilian: security, firefighting, distributed robotics

  13. automaton #1 automaton #2 Design for nonlinear hybrid systems • information topology • discrete and continuous states • random latencies latencies Model features: automaton #3 General framework

  14. System Performance • Data-based systems: “good average behavior” • ski slopes: least congested runs • data networks: CNN • Cyber-physical systems: “good behavior w.p. 1” • cars on the highway • medical systems

  15. 1 2 Hybrid systems: Switched linear Nonlinear hybrid system Switched linear system automaton automaton 1 2 J-W. Lee and G.E. Dullerud, ``Uniform stabilization of discrete-time switched and Markovian jump linear system'', Automatica, 2006.

  16. 1 2 Random latency: Markovian jump linear systems Networked loop MJLS nominal system Markov process measurement latency controller J-W. Lee and G.E. Dullerud, ``Optimal Disturbance Attenuationfor Discrete-Time Switched and Markovian Jump Linear Systems,“ to appear SIAM Journal of Control and Optimization, 2006.

  17. Discrete linear inclusions: Stability

  18. Previous work

  19. Uniform exponential stability

  20. Operator Lyapunov equation

  21. M-path Lyapunov function

  22. Switched systems: Stability test

  23. Switched systems: Performance

  24. Summary • Switched linear systems and MJLS • HoTDeC

  25. Automata-Switched Systems Geir E. Dullerud University of Illinois legend.me.uiuc.edu/dullerud ARTIST2 May 31, 2007

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