AUTOMATIC GENERATION OF OPTIMAL CONTROLLERS THROUGH MODEL CHECKING TECHNIQUES

Giuseppe Della Penna, Daniele Magazzeni, Alberto Tofani, Benedetto Intrigila, Igor Melatti, Enrico Tronci

Abstract

We present a methodology for the synthesis of controllers, which exploits (explicit) model checking techniques. That is, we can cope with the systematic exploration of a very large state space. This methodology can be applied to systems where other approaches fail. In particular, we can consider systems with an highly non-linear dynamics and lacking a uniform mathematical description (model). We can also consider situations where the required control action cannot be specified as a local action, and rather a kind of planning is required. Our methodology individuates first a raw optimal controller, then extends it to obtain a more robust one. A case study is presented which considers the well known truck-trailer obstacle avoidance parking problem, in a parking lot with obstacles on it. The complex non-linear dynamics of the truck-trailer system, within the presence of obstacles, makes the parking problem extremely hard. We show how, by our methodology, we can obtain optimal controllers with different degrees of robustness.

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Paper Citation


in Harvard Style

Della Penna G., Magazzeni D., Tofani A., Intrigila B., Melatti I. and Tronci E. (2006). AUTOMATIC GENERATION OF OPTIMAL CONTROLLERS THROUGH MODEL CHECKING TECHNIQUES . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-59-7, pages 26-33. DOI: 10.5220/0001217900260033


in Bibtex Style

@conference{icinco06,
author={Giuseppe Della Penna and Daniele Magazzeni and Alberto Tofani and Benedetto Intrigila and Igor Melatti and Enrico Tronci},
title={AUTOMATIC GENERATION OF OPTIMAL CONTROLLERS THROUGH MODEL CHECKING TECHNIQUES},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2006},
pages={26-33},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001217900260033},
isbn={978-972-8865-59-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - AUTOMATIC GENERATION OF OPTIMAL CONTROLLERS THROUGH MODEL CHECKING TECHNIQUES
SN - 978-972-8865-59-7
AU - Della Penna G.
AU - Magazzeni D.
AU - Tofani A.
AU - Intrigila B.
AU - Melatti I.
AU - Tronci E.
PY - 2006
SP - 26
EP - 33
DO - 10.5220/0001217900260033