Automata theory meets approximate dynamic programming: Optimal control with temporal logic constraints

We investigate the synthesis of optimal controllers for continuous-time and continuous-state systems under temporal logic specifications. The specification is expressed as a deterministic, finite automaton (the specification automaton) with transition costs, and the optimal system behavior is captur...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:2016 IEEE 55th Conference on Decision and Control (CDC) S. 434 - 440
Hauptverfasser: Papusha, Ivan, Jie Fu, Topcu, Ufuk, Murray, Richard M.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.12.2016
Schlagworte:
Aerospace electronics
Automata
Continuous time systems
Cost function
Dynamic programming
Optimal control
Trajectory
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Abstract We investigate the synthesis of optimal controllers for continuous-time and continuous-state systems under temporal logic specifications. The specification is expressed as a deterministic, finite automaton (the specification automaton) with transition costs, and the optimal system behavior is captured by a cost function that is integrated over time. We construct a dynamic programming problem over the product of the underlying continuous-time, continuous-state system and the discrete specification automaton. To solve this dynamic program, we propose controller synthesis algorithms based on approximate dynamic programming (ADP) for both linear and nonlinear systems under temporal logic constraints. We argue that ADP allows treating the synthesis problem directly, without forming expensive discrete abstractions. We show that, for linear systems under co-safe temporal logic constraints, the ADP solution reduces to a single semidefinite program.
AbstractList We investigate the synthesis of optimal controllers for continuous-time and continuous-state systems under temporal logic specifications. The specification is expressed as a deterministic, finite automaton (the specification automaton) with transition costs, and the optimal system behavior is captured by a cost function that is integrated over time. We construct a dynamic programming problem over the product of the underlying continuous-time, continuous-state system and the discrete specification automaton. To solve this dynamic program, we propose controller synthesis algorithms based on approximate dynamic programming (ADP) for both linear and nonlinear systems under temporal logic constraints. We argue that ADP allows treating the synthesis problem directly, without forming expensive discrete abstractions. We show that, for linear systems under co-safe temporal logic constraints, the ADP solution reduces to a single semidefinite program.
Author Topcu, Ufuk
Papusha, Ivan
Murray, Richard M.
Jie Fu
Author_xml – sequence: 1
  givenname: Ivan
  surname: Papusha
  fullname: Papusha, Ivan
  organization: Dept. of Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
– sequence: 2
  surname: Jie Fu
  fullname: Jie Fu
  organization: Dept. of Electr. & Comput. Eng., Worcester Polytech. Inst., Worcester, MA, USA
– sequence: 3
  givenname: Ufuk
  surname: Topcu
  fullname: Topcu, Ufuk
  organization: Dept. of Aerosp. Eng. & Eng. Mech., Univ. of Texas at Austin, Austin, TX, USA
– sequence: 4
  givenname: Richard M.
  surname: Murray
  fullname: Murray, Richard M.
  organization: Dept. of Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
BookMark eNotj0FLxDAUhCPowV29C17yB1rzmrZpvC1VV2FhL3tfXtPXbqBtShrR_nsD7mlgPmaY2bDbyU3E2BOIFEDol_qtTjMBZaqUrqRQN2wDhdACKqn0Pet238GNGJCHCzm_8pEoLBzn2btfGwHxdp1wtIZHp_c4jnbqX_lxDpEO3LgpeDfwHxsuPNA4Ox_dwfUxENkSPNopLA_srsNhocerbtnp4_1UfyaH4_6r3h0Sq0VIpEEpZGmAsOkEdqCyAkG0rTKl7lTelqhVm6NsqhxMpjIDkBkJRC01VBRyy57_ay0RnWcfJ_r1fH0u_wBNtFWw
ContentType Conference Proceeding
DBID 6IE
6IH
CBEJK
RIE
RIO
DOI 10.1109/CDC.2016.7798307
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan (POP) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEL
IEEE Proceedings Order Plans (POP) 1998-present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEL
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
EISBN 1509018379
9781509018376
EndPage 440
ExternalDocumentID 7798307
Genre orig-research
GroupedDBID 6IE
6IH
CBEJK
RIE
RIO
ID FETCH-LOGICAL-i90t-3ca3036c1eabf0af1725a10dd7c69f74d6a97d4a3b841c272c112c31eedebe553
IEDL.DBID RIE
IngestDate Thu Jun 29 18:38:18 EDT 2023
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i90t-3ca3036c1eabf0af1725a10dd7c69f74d6a97d4a3b841c272c112c31eedebe553
PageCount 7
ParticipantIDs ieee_primary_7798307
PublicationCentury 2000
PublicationDate 2016-Dec.
PublicationDateYYYYMMDD 2016-12-01
PublicationDate_xml – month: 12
  year: 2016
  text: 2016-Dec.
PublicationDecade 2010
PublicationTitle 2016 IEEE 55th Conference on Decision and Control (CDC)
PublicationTitleAbbrev CDC
PublicationYear 2016
Publisher IEEE
Publisher_xml – name: IEEE
Score 1.7672471
Snippet We investigate the synthesis of optimal controllers for continuous-time and continuous-state systems under temporal logic specifications. The specification is...
SourceID ieee
SourceType Publisher
StartPage 434
SubjectTerms Aerospace electronics
Automata
Continuous time systems
Cost function
Dynamic programming
Optimal control
Trajectory
Title Automata theory meets approximate dynamic programming: Optimal control with temporal logic constraints
URI https://ieeexplore.ieee.org/document/7798307
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV09T8MwED2VioEJUIv4lgdG0sb5sGs2VKiYSocO3SrnfJYq9QM1KYJ_j-2EIiQWtshOZMUnvTvZ790DuBNaofWMGjLaRJ7AGBWcMMpMmqN1UCltHMwm5Hg8mM3UpAX3ey0MEQXyGfX8Y7jLNxvc-aOyvpRqkHrp-IGUotZqfd88xqo_fBp6qpboNa_98ksJ6WJ0_L-FTqD7o7tjk31GOYUWrTtgH3fVxtWVmgXR4SdbEVUlC83APxZugpipbeVZQ7ZauY8f2KsDg5VesoaMzvyJK2s6US1ZgDw_VwaTiKrswnT0PB2-RI07QrRQcRWlqH32QU66sLG2rhDJNY-NkSiUlZlxUZAm02kxyDgmMkFXWWHK3R-4uOV5egbt9WZN58ASgRK5oERrmxVCqSLDmNukcEDpcFRdQMdv0fyt7n8xb3bn8u_hKzjyUagpH9fQrrY7uoFDfK8W5fY2BO0L4leeqA
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3PS8MwFH6MKehJZRN_m4NHu6Vt2izeZDomzrnDDruNNHmBwX7I2on-9yZpnQhevJWkJTQPvvdIvu99ADepFMo4Rg1qqQNHYAyyEFXAdJwoY6GSG-rNJvhw2JlMxKgGt1stDCJ68hm23KO_y9crtXFHZW3ORSd20vGdhLGIlmqt77tHKtrdh64ja6Wt6sVfjik-YfQO_rfUITR_lHdktM0pR1DDZQPM_aZY2cpSEi87_CQLxCInvh34x8xOINGlsTyp6FYL-_EdebVwsJBzUtHRiTtzJVUvqjnxoOfmcm8TUeRNGPcex91-UPkjBDNBiyBW0uUfFaLMDJXGliKJDKnWXKXCcKZtHLhmMs46LFQRj5StrVQc2j-wkUuS-Bjqy9UST4BEqeIqTDGS0rAsFSJjioYmyixUWiQVp9BwWzR9KztgTKvdOft7-Br2-uOXwXTwNHw-h30XkZIAcgH1Yr3BS9hV78UsX1_5AH4BTJuh7w
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2016+IEEE+55th+Conference+on+Decision+and+Control+%28CDC%29&rft.atitle=Automata+theory+meets+approximate+dynamic+programming%3A+Optimal+control+with+temporal+logic+constraints&rft.au=Papusha%2C+Ivan&rft.au=Jie+Fu&rft.au=Topcu%2C+Ufuk&rft.au=Murray%2C+Richard+M.&rft.date=2016-12-01&rft.pub=IEEE&rft.spage=434&rft.epage=440&rft_id=info:doi/10.1109%2FCDC.2016.7798307&rft.externalDocID=7798307