Temporal logic model predictive control for discrete time systems

Date

2013-04-08

Author

Aydın Göl, Ebru

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

159
views

0
downloads

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. 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.

URI

https://hdl.handle.net/11511/48362

DOI

https://doi.org/10.1145/2461328.2461379

Collections

Department of Computer Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Fuzzy neural network learning method for time series analysis using multivariate autoregression Sisman, NA; Alpaslan, Ferda Nur (1998-11-13) This paper describes how temporal fuzzy neural network model proposed in [4] can be applied to time series analysis when a multivariate autoregressive model is constructed. The fuzzy multivariate autoregression procedure is described first, then the temporal fuzzy neural network model using this procedure is presented.
Temporal logic inference for classification and prediction from data Kong, Zhaodan; Jones, Austin; Medina, Ayala Ana; Aydın Göl, Ebru; Belta, Calin (2014-04-15) This paper presents an inference algorithm that can discover temporal logic properties of a system from data. Our algorithm operates on finite time system trajectories that are labeled according to whether or not they demonstrate some desirable system properties (e.g. "the car successfully stops before hitting an obstruction"). A temporal logic formula that can discriminate between the desirable behaviors and the undesirable ones is constructed. The formulae also indicate possible causes for each set of beh...
Dynamic programming for a Markov-switching jump-diffusion Azevedo, N.; Pinheiro, D.; Weber, Gerhard Wilhelm (Elsevier BV, 2014-09-01) We consider an optimal control problem with a deterministic finite horizon and state variable dynamics given by a Markov-switching jump-diffusion stochastic differential equation. Our main results extend the dynamic programming technique to this larger family of stochastic optimal control problems. More specifically, we provide a detailed proof of Bellman's optimality principle (or dynamic programming principle) and obtain the corresponding Hamilton-Jacobi-Belman equation, which turns out to be a partial in...
Time series on riemannian manifolds Ergezer, Hamza; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2017) In this thesis, feature covariance matrices are utilized to solve several problems related to time series. In the ﬁrst part of the thesis, a novel representation is proposed to represent the time series using feature covariance matrices. By this representation, time series are carried onto Riemannian manifold space. The proposed representation is ﬁrstly applied to trajectories which are essentially 2D time series. Anomaly detection and activity perception problems in crowded visual scenes are studied by usi...
Stability analysis of constraints in flexible multibody systems dynamics İder, Sıtkı Kemal (Elsevier BV, 1990-1) Automated algorithms for the dynamic analysis and simulation of constrained multibody systems assume that the constraint equations are linearly independent. During the motion, when the system is at a singular configuration, the constraint Jacobian matrix possesses less than full rank and hence it results in singularities. This occurs when the direction of a constraint coincides with the direction of the lost degree of freedom. In this paper the constraint equations for deformable bodies are modified for use...

Citation Formats

E. Aydın Göl, “Temporal logic model predictive control for discrete time systems,” 2013, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/48362.