Formal synthesis of closed-form sampled-data controllers for nonlinear continuous-time systems under STL specifications

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@Article{VERDIER:2022:automatica,

• author = "Cees Ferdinand Verdier and Niklas Kochdumper and Matthias Althoff and Manuel Mazo",
• title = "Formal synthesis of closed-form sampled-data controllers for nonlinear continuous-time systems under {STL} specifications",
• journal = "Automatica",
• volume = "139",
• pages = "110184",
• year = "2022",
• ISSN = "0005-1098",
• DOI = "doi:10.1016/j.automatica.2022.110184",
• URL = "https://www.sciencedirect.com/science/article/pii/S0005109822000292",
• keywords = "genetic algorithms, genetic programming, Achievable controller performance, Optimal controller synthesis for systems with uncertainties, Formal controller synthesis, Temporal logic, Reachability analysis",
• 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",

}

Genetic Programming entries for Cees F Verdier Niklas Kochdumper Matthias Althoff Manuel Mazo Espinosa Jr

Citations