Robust control for signal temporal logic specifications using discrete average space robustness
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Publication:1737745
Abstract: Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size becomes too large. In this paper, a robust and computationally efficient model predictive control framework for signal temporal logic specifications is proposed. We introduce discrete average space robustness, a novel quantitative semantic for signal temporal logic, that is directly incorporated into the cost function of the model predictive controller. The optimization problem entailed in this framework can be written as a convex quadratic program when no disjunctions are considered and results in a robust satisfaction of the specification. Furthermore, we define the predicate robustness degree as a new robustness notion. Simulations of a multi-agent system subject to complex specifications demonstrate the efficacy of the proposed method.
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Cited in
(14)- TeLEx: learning signal temporal logic from positive examples using tightness metric
- Funnel control for fully actuated systems under a fragment of signal temporal logic specifications
- Robust parametric control of Lorenz system via state feedback
- Feedback control strategies for multi-agent systems under a fragment of signal temporal logic tasks
- Temporal logic model predictive control for discrete-time systems
- Finite abstractions with robustness margins for temporal logic-based control synthesis
- Back-propagation through signal temporal logic specifications: infusing logical structure into gradient-based methods
- Model predictive monitoring of dynamical systems for signal temporal logic specifications
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- Temporal logic model predictive control
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