[Zurück]

I. Haghighi, N. Mehdipour, E. Bartocci, C. Belta:
"Control from Signal Temporal Logic Specifications with Smooth Cumulative Quantitative Semantics";
Vortrag: 2019 IEEE Conference on Decision and Control (CDC), Nice, France; 11.12.2019 - 13.12.2019; in: "Proc. of CDC 2019: the 2019 IEEE Conference on Decision and Control", IEEE, (2019).

We present a framework to synthesize control
policies for nonlinear dynamical systems from complex temporal
constraints specified in a rich temporal logic called
Signal Temporal Logic (STL). We propose a novel smooth
STL quantitative semantics called cumulative robustness, and
efficiently compute control policies through a series of smooth
optimization problems that are solved using gradient ascent
algorithms. Furthermore, we demonstrate how these techniques
can be incorporated in a model predictive control framework.
The advantages of combining the cumulative robustness
function with smooth optimization methods as well as model
predictive control are illustrated in case studies.

https://publik.tuwien.ac.at/files/publik_282750.pdf