9,001 research outputs found
Synthesis of Switching Protocols from Temporal Logic Specifications
We propose formal means for synthesizing switching protocols that determine the sequence in which the modes of a switched system are activated to satisfy certain high-level specifications in linear temporal logic. The synthesized protocols are robust against exogenous disturbances on the continuous dynamics. Two types of finite transition systems, namely under- and over-approximations, that abstract the behavior of the underlying continuous dynamics are defined. In particular, we show that the discrete synthesis problem for an under-approximation can be formulated as a model checking problem, whereas that for an over-approximation can be transformed into a two-player game. Both of these formulations are amenable to efficient, off-the-shelf software tools. By construction, existence of a discrete switching strategy for the discrete synthesis problem guarantees the existence of a continuous switching protocol for the continuous synthesis problem, which can be implemented at the continuous level to ensure the correctness of the nonlinear switched system. Moreover, the proposed framework can be straightforwardly extended to accommodate specifications that require reacting to possibly adversarial external events. Finally, these results are illustrated using three examples from different application domains
Prescribed Performance Control for Signal Temporal Logic Specifications
Motivated by the recent interest in formal methods-based control for dynamic
robots, we discuss the applicability of prescribed performance control to
nonlinear systems subject to signal temporal logic specifications. Prescribed
performance control imposes a desired transient behavior on the system
trajectories that is leveraged to satisfy atomic signal temporal logic
specifications. A hybrid control strategy is then used to satisfy a finite set
of these atomic specifications. Simulations of a multi-agent system, using
consensus dynamics, show that a wide range of specifications, i.e., formation,
sequencing, and dispersion, can be robustly satisfied.Comment: 9 pages - this an extended version of the 56th IEEE Conference on
Decision and Control (2017) versio
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