Monitoring of Hybrid Systems using Behavioural System Specification

L. Zouaghi, A. Wagner, E. Badreddin
2011 IFAC Proceedings Volumes  
This paper proposes hybrid monitoring of lower level actions for dependable (mobile) control systems including closed-loop control. We address a special class of hybrid dynamical systems, called switched systems. Here, the notion of switching is used to describe the state change when reaching a given bound or due to an external action that may be performed by a human operator. The approach is based on the consideration of both discrete and continuous aspects within a single unified framework by
more » ... combining Petri-net and numerical filter theory. The model uses a specification of the desired system behaviour during the system design in order to deliver an on-line estimation of the current system state. The main goal of this approach is to get a generic formal method to create monitors for hybrid systems using the behavioural specification and a special class of mixed numerical and symbolic Petri-Net. To show the feasibility of the approach we apply it in the mobile robot area to an intelligent wheelchair. Such system can be best represented by hybrid models and presents a number of interesting new challenges for monitoring and diagnostic methodologies, which could be easily generalized to any autonomous mobile robot.
doi:10.3182/20110828-6-it-1002.01033 fatcat:iimzsg4g2fclnc67cjwkuhbxqu