Formal controller synthesis via genetic programming

C. F. Verdier; M. Mazo

doi:10.1016/j.ifacol.2017.08.1362

Formal controller synthesis via genetic programming

C. F. Verdier, M. Mazo

Team Tamas Keviczky

Research output: Contribution to journal › Conference article › Scientific › peer-review

11 Citations (Scopus)

46 Downloads (Pure)

Abstract

This paper presents an automatic controller synthesis method for nonlinear systems with reachability and safety specifications. The proposed method consists of genetic programming in combination with an SMT solver, which are used to synthesize both a control Lyapunov function and the modes of a switched state feedback controller. The resulting controller consists of a set of analytic expressions and a switching law based on the control Lyapunov function, which together guarantee the imposed specifications. The effectiveness of the proposed approach is shown on a 2D pendulum.

Original language	English
Pages (from-to)	7205-7210
Journal	IFAC-PapersOnline
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.1362
Publication status	Published - 2017

Keywords

Formal methods
Genetic programming
Lyapunov methods

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10.1016/j.ifacol.2017.08.1362

1-s2.0-S2405896317318979-mainFinal published version, 862 KB

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AB - This paper presents an automatic controller synthesis method for nonlinear systems with reachability and safety specifications. The proposed method consists of genetic programming in combination with an SMT solver, which are used to synthesize both a control Lyapunov function and the modes of a switched state feedback controller. The resulting controller consists of a set of analytic expressions and a switching law based on the control Lyapunov function, which together guarantee the imposed specifications. The effectiveness of the proposed approach is shown on a 2D pendulum.

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KW - Lyapunov methods

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Formal controller synthesis via genetic programming

Abstract

Keywords

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