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Robust control for signal temporal logic specifications using discrete average space robustness
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 101, p. 377-387Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2019. Vol. 101, p. 377-387
Keywords [en]
Formal methods-based control, Signal temporal logic, Model predictive control, Autonomous systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-244884DOI: 10.1016/j.automatica.2018.12.022ISI: 000458941700042OAI: oai:DiVA.org:kth-244884DiVA, id: diva2:1293797
Note

QC 20190305

Available from: 2019-03-05 Created: 2019-03-05 Last updated: 2019-06-11Bibliographically approved

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Lindemann, LarsDimarogonas, Dimos V.

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