Automatic synthesis of control alphabet policies

Anastasia Mavrommati, Todd D. Murphey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a method for synthesis of control alphabet policies, given continuum descriptions of physical systems and tasks. First, we describe a model predictive control scheme, called switched sequential action control (sSAC), that generates global state-feedback control policies with low computational cost, given a control alphabet. During synthesis, sSAC alphabet policies are directly encoded into finite state machines using a cell subdivision approach. As opposed to existing automata synthesis methods, controller synthesis is based entirely on the original nonlinear system dynamics and thus does not rely on but rather results in a lower-complexity symbolic representation. The method is validated for the cart-pendulum inversion problem and the double-tank system. The approach presents an opportunity for real-time task-oriented control of complex robotic platforms using exclusively sensor data with no online computation involved.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
PublisherIEEE Computer Society
Pages313-320
Number of pages8
ISBN (Electronic)9781509024094
DOIs
StatePublished - Nov 14 2016
Event2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 - Fort Worth, United States
Duration: Aug 21 2016Aug 24 2016

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2016-November
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
CountryUnited States
CityFort Worth
Period8/21/168/24/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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