Abstract
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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.