论文标题
使用遗传编程的混合系统正式控制器合成
Formal controller synthesis for hybrid systems using genetic programming
论文作者
论文摘要
本文提出了一个具有安全性和可及性规范子集的通用混合系统的自动正式控制器合成框架。该框架使用遗传编程自动共同合成控制器和候选Lyapunov样函数。这些候选lyapunov样函数用于正式验证控制规范，并使用满足性模型理论求解器证明其正确性。这种方法的优点是：对多项式系统没有限制，合成控制器表示为紧凑型表达式，并且必须事先指定明确的解决方案结构。我们在几个案例研究中证明了所提出的框架的有效性，包括非多项式系统，采样数据系统，具有界限不确定性的系统，开关系统和具有跳跃的系统。在几个案例研究中，包括非物质系统，采样数据系统，具有界限不确定性的系统，开关系统和具有跳跃的系统。
This paper proposes a framework for automatic formal controller synthesis for general hybrid systems with a subset of safety and reachability specifications. The framework uses genetic programming to automatically co-synthesize controllers and candidate Lyapunov-like functions. These candidate Lyapunov-like functions are used to formally verify the control specification, and their correctness is proven using a Satisfiability Modulo Theories solver. The advantages of this approach are: no restriction is made to polynomial systems, the synthesized controllers are expressed as compact expressions, and no explicit solution structure has to be specified beforehand. We demonstrate the effectiveness of the proposed framework in several case studies, including nonpolynomial systems, sampled-data systems, systems with bounded uncertainties, switched systems, and systems with jumps. osed framework in several case studies, including nonpolynomial systems, sampled-data systems, systems with bounded uncertainties, switched systems, and systems with jumps.
