Observer‐based control of block‐triangular discrete time hybrid automata on a partial order
Domitilla Del Vecchio · International Journal of Robust and Nonlinear Control · 2008
Abstract The safety control problem for the class of discrete time block‐triangular order preserving hybrid automata with imperfect continuous state information is addressed. A dynamic feedback law is constructed in order to guarantee that the continuous state is always outside a bad set. The order preserving properties of the dynamics are exploited to construct state estimation and control algorithms that have linear complexity in the number of variables. Such algorithms adopt an interval abstraction approach, in which sets of interest are represented and propagated only through suitable upper and lower bounds. The proposed algorithms are applied to a collision avoidance problem arising in the context of intelligent transportation. Copyright © 2008 John Wiley & Sons, Ltd.