Model Predictive Control for Signal Temporal Logic Specifications

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Title Model Predictive Control for Signal Temporal Logic Specifications
Authors Vasumathi Raman, Alexandre Donze ́, Mehdi Maasoumy, Richard M. Murray, Alberto Sangiovanni-Vincentelli and Sanjit A. Seshia
Source Submitted, IEEE T. Automatic Control (2 Jan 2016)
Abstract We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these systems, including safety, response and bounded liveness. For synthesis, we encode STL specifications as mixed integer-linear constraints on the system variables in the optimization problem at each step of a receding horizon control framework. We prove correctness of our algorithms, and present experimental results for controller synthesis for building energy and climate control.
Type Journal submission
URL http://www.cds.caltech.edu/~murray/preprints/ram+16-tac_s.pdf
Tag ram+16-tac
ID 2016a
Funding SRC TerraSwarm
Flags NCS