Robust Model Predictive Control for Signal Temporal Logic Synthesis
Samira Farahani, Vasu Raman, Richard Murray

Citation
Samira Farahani, Vasu Raman, Richard Murray. "Robust Model Predictive Control for Signal Temporal Logic Synthesis". IFAC Conference on Analysis and Design of Hybrid Systems, 2015.

Abstract
Most automated systems operate in uncertain or adversarial conditions, and have to be capable of reliably reacting to changes in the environment. The focus of this paper is on automatically synthesizing reactive controllers for cyber-physical systems subject to signal temporal logic (STL) specifications. We build on recent work that encodes STL specifications as mixed integer linear constraints on the variables of a discrete-time model of the system and environment dynamics. To obtain a reactive controller, we present solutions to the worst-case model predictive control (MPC) problem using a suite of mixed integer linear programming techniques. We demonstrate the comparative effectiveness of several existing worst-case MPC techniques, when applied to the problem of control subject to temporal logic specifications; our empirical results emphasize the need to develop specialized solutions for this domain.

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Citation formats

• HTML

  Samira Farahani, Vasu Raman, Richard Murray. <a
  href="http://www.terraswarm.org/pubs/568.html"
  >Robust Model Predictive Control for Signal Temporal
  Logic Synthesis</a>, IFAC Conference on Analysis and
  Design of Hybrid Systems, 2015.

• Plain text

  Samira Farahani, Vasu Raman, Richard Murray. "Robust
  Model Predictive Control for Signal Temporal Logic
  Synthesis". IFAC Conference on Analysis and Design of
  Hybrid Systems, 2015.

• BibTeX

  @inproceedings{FarahaniRamanMurray15_RobustModelPredictiveControlForSignalTemporalLogicSynthesis,
      author = {Samira Farahani and Vasu Raman and Richard Murray},
      title = {Robust Model Predictive Control for Signal
                Temporal Logic Synthesis},
      booktitle = {IFAC Conference on Analysis and Design of Hybrid
                Systems},
      year = {2015},
      abstract = {Most automated systems operate in uncertain or
                adversarial conditions, and have to be capable of
                reliably reacting to changes in the environment.
                The focus of this paper is on automatically
                synthesizing reactive controllers for
                cyber-physical systems subject to signal temporal
                logic (STL) specifications. We build on recent
                work that encodes STL specifications as mixed
                integer linear constraints on the variables of a
                discrete-time model of the system and environment
                dynamics. To obtain a reactive controller, we
                present solutions to the worst-case model
                predictive control (MPC) problem using a suite of
                mixed integer linear programming techniques. We
                demonstrate the comparative effectiveness of
                several existing worst-case MPC techniques, when
                applied to the problem of control subject to
                temporal logic specifications; our empirical
                results emphasize the need to develop specialized
                solutions for this domain.},
      URL = {http://terraswarm.org/pubs/568.html}
  }
  

Posted by Vasu Raman on 9 May 2015.
Groups: tools