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 and 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 |
| DOI | |
| Tag | ram+16-tac |
| ID | 2016a |
| Funding | SRC TerraSwarm |
| Flags | NCS |
