Paper Info
Title
Automata Theory Meets Approximate Dynamic Programming: Optimal Control With Temporal Logic Constraints
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.
Year
Venue
Field
2016
2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC)
Dynamic programming,Mathematical optimization,Automata theory,Deterministic automaton,Optimal control,Linear system,Control theory,Computer science,Automaton,Finite-state machine,Temporal logic
DocType
ISSN
Citations 
Conference
0743-1546
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Ivan Papusha182.15
Jie Fu200.34
Ufuk Topcu31032115.78
Richard M. Murray4123221223.70