Motion description languages: from specification to execution

Hybrid systems;Optimal control;Motion description languages

Martin, Patrick J. ; Electrical and Computer Engineering

University:Georgia Institute of Technology

Department:Electrical and Computer Engineering

关键词: Hybrid systems;    Optimal control;    Motion description languages;   

Others  :  https://smartech.gatech.edu/bitstream/1853/33860/1/martin_patrick_j_201005_phd.pdf

美国|英语

来源: SMARTech Repository

【 摘 要 】

Many emerging controls applications have seen increased operational complexity due to the deployment of embedded, networked systems that must interact with the physical environment. In order to manage this complexity, we design different control modes for each system and use motion description languages (MDL) to specify a sequence of these controllers to execute at run-time. Unfortunately, current MDL frameworks lose some of the important details (i.e. power, spatial, or communication capabilities) that affect the execution of the control modes.This work presents several computational tools that work towardsclosing MDL's specification-to-execution gap, which can result in undesirable behavior of complex systems at run-time. First, we develop the notion of an MDL compiler for control specifications with spatial, energy, and temporal constraints. We define a new MDL for networked systems and develop an algorithm that automatically generates a supervisor to prevent incorrect execution of the multi-agent MDL program. Additionally, we derive conditions for checking if an MDL program satisfies actuator constraints and develop an algorithm to insert new control modes that maintain actuator bounds during the execution of the MDL program.Finally, we design and implement a software architecture that facilitates the development of control applications for systems with power, actuator, sensing, and communication constraints.