A Contract Theory for Layered Control Architectures
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866914955165433856 |
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| author | Mazo Jr., Manuel Compton, Will Cohen, Max H. Ames, Aaron D. |
| author_facet | Mazo Jr., Manuel Compton, Will Cohen, Max H. Ames, Aaron D. |
| contents | Autonomous systems typically leverage layered control architectures with a combination of discrete and continuous models operating at different timescales. As a result, layered systems form a new class of hybrid systems composed of systems operating on a diverse set of continuous and discrete signals. This paper formalizes the notion of a layered (hierarchical) control architecture through a theory of relations between its layers. This theory enables us to formulate contracts within layered control systems -- these define interfaces between layers and isolate the design of each layer, guaranteeing that composition of contracts at each layer results in a contract capturing the desired system-wide specification. Thus, the proposed theory yields the ability to analyze layered control architectures via a compositional approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_14902 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Contract Theory for Layered Control Architectures Mazo Jr., Manuel Compton, Will Cohen, Max H. Ames, Aaron D. Systems and Control Optimization and Control Autonomous systems typically leverage layered control architectures with a combination of discrete and continuous models operating at different timescales. As a result, layered systems form a new class of hybrid systems composed of systems operating on a diverse set of continuous and discrete signals. This paper formalizes the notion of a layered (hierarchical) control architecture through a theory of relations between its layers. This theory enables us to formulate contracts within layered control systems -- these define interfaces between layers and isolate the design of each layer, guaranteeing that composition of contracts at each layer results in a contract capturing the desired system-wide specification. Thus, the proposed theory yields the ability to analyze layered control architectures via a compositional approach. |
| title | A Contract Theory for Layered Control Architectures |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2409.14902 |