Name
Title | ||
|---|---|---|
Formal synthesis of closed-form sampled-data controllers for nonlinear continuous-time systems under STL specifications |
Abstract | ||
|---|---|---|
We propose a counterexample-guided inductive synthesis framework for the formal synthesis of closed-form sampled-data controllers for nonlinear systems to meet STL specifications over finite-time trajectories. Rather than stating the STL specification for a single initial condition, we consider an (infinite and bounded) set of initial conditions. Candidate solutions are proposed using genetic programming, which evolves controllers based on a finite number of simulations. Subsequently, the best candidate is verified using reachability analysis; if the candidate solution does not satisfy the specification, an initial condition violating the specification is extracted as a counterexample. Based on this counterexample, candidate solutions are refined until eventually a solution is found (or a user-specified number of iterations is met). The resulting sampled-data controller is expressed as a closed-form expression, enabling both interpretability and the implementation in embedded hardware with limited memory and computation power. The effectiveness of our approach is demonstrated for multiple systems. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1016/j.automatica.2022.110184 | Automatica |
Keywords | DocType | Volume |
Achievable controller performance,Optimal controller synthesis for systems with uncertainties,Formal controller synthesis,Temporal logic,Reachability analysis | Journal | 139 |
Issue | ISSN | Citations |
1 | 0005-1098 | 0 |
PageRank | References | Authors |
0.34 | 4 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Verdier Cees F. | 1 | 0 | 0.34 |
| Kochdumper Niklas | 2 | 0 | 0.34 |
| Matthias Althoff | 3 | 383 | 50.89 |
| Manuel Mazo Jr | 4 | 673 | 49.71 |