A unified model for design and VLSI implementation of robotic perceptive controller

In this paper, a formal hybrid model is used for both the controller design and hardware description. The model can describe the control functions and the high level behavior of the robotic system. The high level structural description of the controller model guarantees the synthesizability of the control system. A hybrid simulation system is proposed to test the hybrid controller design and implementation. The hybrid simulation results have verified that the hybrid system model can be used for VLSI implementation, and the integrated system is synthesizable