In this article, we present a new algorithm to solve the supervisory control problem over nonterminating processes modeled as $\omega$ -regular automata. A solution was obtained by Thistle in 1995, which uses complex manipulations of We...

The paper discusses a multi-agent system for robot-soccer. The system consists of a supervisory controller, and controllers for attack, defense and goalie robots. Real time vector field based path planning, Petri-net theory and Q-learning technique are used in the design. Robot-soccer system has a dynamic environment. A soccer robot has to take an appropriate decision based on environment situa...

Correct-by-construction techniques such as control barrier function (CBF) have been developed to guarantee safety for control systems as supervisory controller. However, when the supervisor intervenes, the performance is typically compromised. On the other hand, machine learning is used to synthesize controllers that inherit good properties from the training data, but safety is typically not gu...

This paper presents a model-based approach to diagnosis of dynamic systems that combine continuous and discrete behaviors, i.e., hybrid systems. Typically these systems have been abstracted into discrete event models or approximated by continuous models with steep slopes so that existing algorithms can be applied for fault isolation tasks. To overcome the limitations of these approaches, we hav...

In this paper, a direct adaptive control scheme for a class of nonlinear systems is proposed. The architecture employs a Gaussian radial basis function (RBF) network to construct an adaptive controller. The parameters of the adaptive controller are adapted and changed according to a law derived using Lyapunov stability theory. The centres of the RBF network are adapted on line using the kmeans ...

In this paper a proposal of a predictive control of a wastewater treatment plant was presented. Proposed multilayer control structure is composed of direct access PID controllers and supervisory DMC (Dynamic Matrix Controller) predictive controller. Basic idea of applied multilayer control structure was to use DMC controller to predict and compensate present and future measurable disturbances (...

In this paper we propose a method to create discrete abstraction of state space behavior for continuous-time systems based on gradient analysis of the system dynamics. Then we describe how to use such a discrete model to design a supervisory controller for a given safety spiflication for the system. Finally we provide an entropy measure of nondeterminism, which can be used to evaluate the quali...