Model Predictive Control with Signal Temporal Logic Specifications
Vasumathi Raman, Alexandre Donze', Mehdi Maasoumy, Richard M. Murray, Alberto Sangiovanni-Vincentelli and Sanjit A. Seshia
2014 Conference on Decision and Control (CDC)
We present a mathematical programming-based method for model predictive control of discrete-time cyber- physical systems subject to signal temporal logic (STL) speci- fications. 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 model predictive control. We present experimental results for controller synthesis on simplified models of a smart micro-grid and HVAC system.
- Conference Paper: http://www.cds.caltech.edu/~murray/preprints/ram+14-cdc.pdf