Formal synthesis of analytic controllers for sampled-data systems via genetic programming

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Abstract

This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers. We consider a periodically switched controllers based on a Control Lyapunov Barrier-like function. The proposed method utilizes genetic programming to synthesize these function in analytic form, as well as the controller modes. Correctness of the controller are subsequently verified by means of a Satisfiability Modulo Theories solver. Effectiveness of the proposed methodology is demonstrated on multiple systems.

Original languageEnglish
Title of host publicationProceedings of the 57th IEEE Conference on Decision and Control (CDC 2018)
EditorsAndrew R. Teel, Magnus Egerstedt
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages4896-4901
ISBN (Electronic)978-1-5386-1395-5
DOIs
Publication statusPublished - 2018
EventCDC 2018: 57th IEEE Conference on Decision and Control - Miami, United States
Duration: 17 Dec 201819 Dec 2018

Conference

ConferenceCDC 2018: 57th IEEE Conference on Decision and Control
CountryUnited States
CityMiami
Period17/12/1819/12/18

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