Hybrid Systems
Research Projects
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Model-based Integration of Embedded Systems (Mobies)
The Darpa Mobies program sought to develop software technologies for
implementing an end-to-end model-based design and implementation
approach. Our effort, ``SmartVehicles: An open platform for the
design, testing, and implementation of automotive embedded systems,''
led to two test beds, one dealing with engine and powertrain control
and the other with vehicle-to-vehicle (V2V) coordinated control. The former
was used to develop/test control strategies specific to engine and
transmission systems. The V2V test bed developed and tested
strategies for collision-warning and adaptive cruise control.
The final report is available here:
Final Report [pdf 7.3M]
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Towards a System Design Discipline
System design is a craft and a discipline. Practice of the craft requires
domain knowledge. This NSF-sponsored project seeks to formulate a discipline
of design through a graduated approach to system description frameworks,
behavior, implementation and performance. The approach will build on existing
work in hybrid systems, hierarchical and distributed control, and elements
of cognitive science and intelligent systems. Some new theoretical and
computational material will be developed while filling in gaps and exploring
promising directions. The end product of this effort will be: (1) articles
and a monograph describing our approach to system design; (2) software
tools that aid in the creation of the design, its validation and implementation;
and (3) designs that offer solutions to concrete problems in transportation
and communication networks. The approach is intended for engineers and
students engaged in the design of large, distributed dynamical systems.
Recent Publications
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A comparison principle for equations of the
Hamilton-Jacobi type in set-membership filtering.
A.B. Kurzhanski and P. Varaiya. Communications in Information and Systems, Vol 6(3),
pp. 179-192, 2006. [pdf 198K]
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Ellipsoidal techniques for reachability analysis
of discrete-time linear systems.
A. Kurzhanskiy and P. Varaiya, June 2005. IEEE
Trans. Automatic Control, vol 52(1), pp. 26-38, Jan. 2007 [pdf 1.3M]
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Optimization techniques for state-constrained
control and obstacle problems.
A.B. Kurzhanski, I.M. Mitchell and P. Varaiya. Journal of Optimization Theory
and Applications, vol 128(3), pp. 499-521, March 2006.
[pdf 525K]
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Ellipsoidal techniques for hybrid dynamics: the reachability problem.
A. B. Kurzhanski and P. Varaiya, 2005. In W.P. Dayawansa, A. Lindquist, and Y. Zhou (Eds)
New Directions and Applications in Control Theory,
Lecture Notes in Control and Information Sciences, vol 321, pp.193--205,
Springer, 2005. [pdf 421K]
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Reachability under uncertainty and measurement noise.
A.B. Kurzhanski and P. Varaiya, July 2004. To appear in
Mathematical Modeling and Simulation. [pdf 172K]
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Ellipsoidal techniques for hybrid dynamics: the reachability problem
A.B. Kurzhanski and P. Varaiya, May 2004. Proc. MTNS, 2005. [pdf 140K]
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Ellipsoidal techniques for reachability under state constraints.
A.B. Kurzhanski and P. Varaiya November 2003.
[pdf 272K]
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Reachability under uncertainty.
A.B. Kurzhanski and P. Varaiya, August 2002. Proc 2002 IEEE Conference
on Decision and Control.
[pdf 284K]
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On ellipsoidal techniques for reachability analysis. Part I. External
approximations.
Part II. Internal approximations, box-valued constraints.
A.B. Kurzhanski and P. Varaiya, Sept 2000. Optimization: methods
and software vol 17, 207-237, 2002.[pdf 298K, 560K]
[pdf 886K]
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On
reachability under uncertainty,
A.B. Kurzhanski and P. Varaiya. Sept 1999. SIAM J. Control, Vol 41(1), 181--216, 2002. [pdf 268K]
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Dynamic optimization for reachability problems.
A.B. Kurzhanski and P. Varaiya, July 2000. JOTA 108(2),
227--251, 2001. [pdf 886K]
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Control
design of an automated highway system,
R. Horowitz and P. Varaiya, Feb. 2000. Proc. of the IEEE
88(7), 913--925, 2000. [pdf 219K]
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Ellipsoidal
techniques for reachability analysis. Internal approximation.
A.B. Kurzhanski and P. Varaiya, Sept. 1998. Systems and Control
Letters 41, 201--211, 2000.[pdf 279K]
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On the reachability problem under persistent disturbances,
A.B. Kurzhanski and P. Varaiya, Doklady Mathematics, vol 61(3), 3809-3814, 2000.
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Ellipsoidal
techniques for reachability analysis,
A.B. Kurzhanski and P. Varaiya, Dec. 1999. LNCS 1790, 202--214, 2000.
[pdf 274K]
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Reach
set computation using optimal control,
P. Varaiya, Dec. 1998. [postscript 148K]
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Epsilon
approximations of differential inclusions,
A. Puri, P. Varaiya and V. Borkar. Also in Hybrid Systems III, LNCS
1066:362-376, Springer, 1996. [postscript, 513K]
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Driving
Safely in Smart Cars,
A. Puri and P. Varaiya. California PATH Research Report UCB-ITS-PRR-95-24.
August 1995. Also in Proc. American Control Conference: 3597-3599, 1995.
[pdf, 170K]
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What's
Decidable About Hybrid Automata ?,
P. Kopke, T. Henzinger, A. Puri and P. Varaiya. 27th Annual ACM Symposioum
on Theory of Computing (STOCS): 372-382, 1995. [postscript, 318K]
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The
Rabin index and chain automata, with applications to automata and games,
S. Krishnan, A. Puri, R. Brayton and P. Varaiya. Proc. CAV 95. July
1995. [postscript, 221K]
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Verification
of Hybrid Systems using Abstractions,
A. Puri and P. Varaiya. Hybrid Systems Workshop, October, 1994. Also
Hybrid Systems II, LNCS 999: 359-369, Springer-Verlag, 1995. [postscript,
248K]
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Decidable
Hybrid Systems,
A. Puri and P. Varaiya. Computer and Mathematical Modeling,23(11/12):191-202,
1996. [postscript, 359K]
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Stability
of Hybrid Systems.
M. Kourjanski and P. Varaiya. 1995. Also in Hybrid Systems III, LNCS
1066:413,423, Springer, 1996.[postscript, 3.2M]
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Viable
Control of Hybrid Systems.
A. Deshpande and P. Varaiya. In Hybrid Systems II, LNCS 999:128-147,
Springer-Verlag. 1995. [postscript, 356K]
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Information
Structures for Control and Verification of Hybrid Systems.
A. Deshpande and P. Varaiya. American Control Conference 1995. [postscript,
151K]
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Decidability
of hybrid systems with rectangular differential inclusion,
A. Puri and P. Varaiya. Proc. CAV 94. July 1994. [postscript, 275K]
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Smart cars on smart roads: Problems of control,
P. Varaiya. IEEE Trans. Auto. Control. Vol 38(2), 195-207, Feb. 1993. [pdf, 1.2M]
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