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Optimal Control of Nonlinear Systems with Temporal Logic Specifications
Abstract We present a mathematical programming-base …
We present a mathematical programming-based method for optimal con- trol of nonlinear systems subject to temporal logic task specifications. We specify tasks using a fragment of linear temporal logic (LTL) that allows both finite- and infinite-horizon properties to be specified, including tasks such as surveillance, periodic motion, repeated assembly, and environmental monitoring. Our method di- rectly encodes an LTL formula as mixed-integer linear constraints on the system variables, avoiding the computationally expensive process of creating a finite ab- straction. Our approach is efficient; for common tasks our formulation uses significantly fewer binary variables than related approaches and gives the tightest possible convex relaxation. We apply our method on piecewise affine systems and certain classes of differentially flat systems. In numerical experiments, we solve temporal logic motion planning tasks for high-dimensional (10+) continuous systems.
high-dimensional (10+) continuous systems.  +
Authors Eric M. Wolff and Richard M. Murray  +
Funding Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems +
ID 2013d  +
Source Submitted, 2013 International Symposium on Robotics Research (ISRR)  +
Tag wm13-isrr  +
Title Optimal Control of Nonlinear Systems with Temporal Logic Specifications +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:15:21  +
URL
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http://www.cds.caltech.edu/~murray/preprints/wm13-isrr_s.pdf  +
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Optimal Control of Nonlinear Systems with Temporal Logic Specifications + Title
 

 

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