Temporal logic model predictive control

AYDIN GÖL E., Lazar M., Belta C.

AUTOMATICA, cilt.56, ss.78-85, 2015 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 56
  • Basım Tarihi: 2015
  • Doi Numarası: 10.1016/j.automatica.2015.03.029
  • Dergi Adı: AUTOMATICA
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.78-85
  • Anahtar Kelimeler: Model predictive control, Discrete-time systems, Formal methods, Linear temporal logic
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

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. (C) 2015 Elsevier Ltd. All rights reserved.