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arXiv · 1812.02711

Formal Synthesis of Analytic Controllers for Sampled-Data Systems via Genetic Programming

Cees F. Verdier·Manuel Mazo Jr
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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 periodically switched controllers based on a Control Lyapunov Barrier-like functions. The proposed method utilizes genetic programming to synthesize these functions 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.

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Cees F. Verdier, Manuel Mazo Jr. 2018-12-06. Formal Synthesis of Analytic Controllers for Sampled-Data Systems via Genetic Programming. https://arxiv.org/abs/1812.02711

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