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Authors: Giuseppe Della Penna 1 ; Daniele Magazzeni 1 ; Alberto Tofani 1 ; Benedetto Intrigila 2 ; Igor Melatti 3 and Enrico Tronci 3

Affiliations: 1 Università di L’Aquila, Italy ; 2 Università di Roma “Tor Vergata”, Italy ; 3 Università di Roma “La Sapienza”, Italy

ISBN: 978-972-8865-59-7

Keyword(s): Controller Synthesis, Controller Optimization, Model Checking, Nonlinear Systems.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Fuzzy Control ; Fuzzy Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms ; Soft Computing

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. (More)

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Paper citation in several formats:
Della Penna G.; Magazzeni D.; Tofani A.; Intrigila B.; Melatti I.; Tronci E. and (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 3: ICINCO, ISBN 978-972-8865-59-7, pages 26-33. DOI: 10.5220/0001217900260033

@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 3: ICINCO,},
year={2006},
pages={26-33},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001217900260033},
isbn={978-972-8865-59-7},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 3: 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

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