Formal controller synthesis via genetic programming

Journal article (2017)

Authors

C.F. Verdier Team Tamas Keviczky - Mechanical, Maritime and Materials Engineering
M. Mazo Team Tamas Keviczky - Mechanical, Maritime and Materials Engineering
Research Group
Team Tamas Keviczky (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2017 C.F. Verdier, M. Mazo
DOI
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https://doi.org/10.1016/j.ifacol.2017.08.1362
Genetic programming Lyapunov methods Formal methods
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Published Date

2017

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Tamas Keviczky

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.