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Temporal logic model predictive control
Date
2015-06-01
Author
Aydın Göl, Ebru
Belta, Calin
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Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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This paper proposes an optimal control strategy for a discrete-time linear system constrained to satisfy a temporal logic specification over a set of linear predicates in its state variables. The cost is a quadratic function that penalizes the distance from desired state and control trajectories. The specification is a formula of syntactically co-safe Linear Temporal Logic (scLTL), which can be satisfied in finite time. To incorporate dynamic environments, it is assumed that the reference trajectories are only available over a finite horizon and a model predictive control (MPC) approach is employed. The MPC controller solves a set of convex optimization problems guided by the specification and subject to progress constraints. The constraints ensure that progress is made towards the satisfaction of the formula with guaranteed satisfaction by the closed-loop trajectory. The algorithms proposed in this paper were implemented as a software package that is available for download. Illustrative case studies are included.
Subject Keywords
Linear temporal logic
,
Formal methods
,
Discrete-time systems
,
Model predictive control
URI
https://hdl.handle.net/11511/38657
Journal
AUTOMATICA
DOI
https://doi.org/10.1016/j.automatica.2015.03.029
Collections
Department of Computer Engineering, Article
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BibTeX
E. Aydın Göl and C. Belta, “Temporal logic model predictive control,”
AUTOMATICA
, pp. 78–85, 2015, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/38657.