AUTOMATIC GENERATION OF OPTIMAL CONTROLLERS THROUGH MODEL CHECKING TECHNIQUES

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

2006

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.

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