Robust control for signal temporal logic specifications using discrete average space robustness

DOI10.1016/J.AUTOMATICA.2018.12.022zbMATH Open1415.93092arXiv1607.07019OpenAlexW2963199590WikidataQ128607420 ScholiaQ128607420MaRDI QIDQ1737745FDOQ1737745

Lars Lindemann, Dimos V. Dimarogonas

Publication date: 24 April 2019

Published in: Automatica (Search for Journal in Brave)

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.

Full work available at URL: https://arxiv.org/abs/1607.07019

zbMATH Keywords

model predictive controlautonomous systemssignal temporal logicformal methods-based control

Mathematics Subject Classification ID

Convex programming (90C25) Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85) Temporal logic (03B44) Software, source code, etc. for problems pertaining to systems and control theory (93-04)

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Cited In (8)

• Robust satisfaction of metric interval temporal logic objectives in adversarial environments
• Robust parametric control of Lorenz system via state feedback
• TeLEx: learning signal temporal logic from positive examples using tightness metric
• Model predictive monitoring of dynamical systems for signal temporal logic specifications
• An STL-based Approach to Resilient Control for Cyber-Physical Systems
• Mixed Integer Linear Programming Approach for Control Synthesis with Weighted Signal Temporal Logic
• Feedback control strategies for multi-agent systems under a fragment of signal temporal logic tasks
• Assured learning-enabled autonomy: a metacognitive reinforcement learning framework

Uses Software

• Gurobi
• YALMIP
• BluSTL
• GitHub

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