Continuous-time control synthesis under nested signal temporal logic specifications
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL specifications without nested temporal operators, addressing nested temporal operators poses a notably more challenging scenario and requires new theoretical advancements. Our approach hinges on the concepts of signal temporal logic tree (sTLT) and control barrier function (CBF). Specifically, we detail the construction of an sTLT from a given STL formula and a continuous-time dynamical system, the sTLT semantics (i.e., satisfaction condition), and the equivalence or under-approximation relation between sTLT and STL. Leveraging the fact that the satisfaction condition of an sTLT is essentially keeping the state within certain sets during certain time intervals, it provides explicit guidelines for the CBF design. The resulting controller is obtained through the utilization of an online CBF-based program coupled with an event-triggered scheme for online updating the activation time interval of each CBF, with which the correctness of the system behavior can be established by construction. We demonstrate the efficacy of the proposed method for single-integrator and unicycle models under nested STL formulas.
Code (2)
Similar Papers 제목 키워드 기반
Symbolic Controller Synthesis for B\"uchi Specifications on Stochastic Systems
We consider the policy synthesis problem for continuous-state controlled Markov processes evolving in discrete time, when the specification is given as a B\"uchi condition (visit a set of states infinitely often). We dec…
FairnessNested Scale Editing for Conditional Image Synthesis
We propose an image synthesis approach that provides stratified navigation in the latent code space. With a tiny amount of partial or very low-resolution image, our approach can consistently out-perform state-of-the-art …
DisentanglementDiversityImage GenerationImage Outpainting+1Nested Scale-Editing for Conditional Image Synthesis
We propose an image synthesis approach that provides stratified navigation in the latent code space. With a tiny amount of partial or very low-resolution image, our approach can consistently out-perform state-of-the-art …
DisentanglementDiversityImage GenerationImage Outpainting+1State Feedback System Level Synthesis in Continuous Time
System level synthesis (SLS) is a controller parameterization technique that facilitates synthesis of structured distributed controllers via convex optimization. Past results on SLS are primarily in the discrete-time set…
An Operator-Based Approach to STL
Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis methods are limited wit…