Optimal and Robust Controller Synthesis: using Energy Timed Automata with Uncertainty
For designers of embedded systems with energy constraints, this work provides a fully automated method for controller synthesis that handles timing and energy uncertainty, improving over previous manual or less efficient approaches.
The paper proposes a framework for synthesizing robust and optimal energy-aware controllers using energy timed automata, proving decidability of the energy-constrained infinite-run problem under both certain and uncertain energy rates, and demonstrating improved automated results on a hydraulic oil pump example.
In this paper, we propose a novel framework for the synthesis of robust and optimal energy-aware controllers. The framework is based on energy timed automata, allowing for easy expression of timing constraints and variable energy rates. We prove decidability of the energy-constrained infinite-run problem in settings with both certainty and uncertainty of the energy rates. We also consider the optimization problem of identifying the minimal upper bound that will permit the existence of energy-constrained infinite runs. Our algorithms are based on quantifier elimination for linear real arithmetic. Using Mathematica and Mjollnir, we illustrate our framework through a real industrial example of a hydraulic oil pump. Compared with previous approaches our method is completely automated and provides improved results.