Control Synthesis using Signal Temporal Logic Specifications with Integral and Derivative Predicates

Ali Tevfik Buyukkocak; Derya Aksaray; Yasin Yazicioglu

doi:10.23919/ACC50511.2021.9482651

Control Synthesis using Signal Temporal Logic Specifications with Integral and Derivative Predicates

Ali Tevfik Buyukkocak
, Derya Aksaray
, Yasin Yazicioglu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Scopus citations

Abstract

In many applications, the integrals and derivatives of signals carry valuable information (e.g., cumulative success over a time window, the rate of change) regarding the behavior of the underlying system. In this paper, we extend the expressiveness of Signal Temporal Logic (STL) by introducing predicates that can define rich properties related to the integral and derivative of a signal. For control synthesis, the new predicates are encoded into mixed-integer linear inequalities and are used in the formulation of a mixed-integer linear program to find a trajectory that satisfies an STL specification. We discuss the benefits of using the new predicates and illustrate them in a case study showing the influence of the new predicates on the trajectories of an autonomous robot.

Original language	English (US)
Title of host publication	2021 American Control Conference, ACC 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4873-4878
Number of pages	6
ISBN (Electronic)	9781665441971
DOIs	https://doi.org/10.23919/ACC50511.2021.9482651
State	Published - May 25 2021
Event	2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States Duration: May 25 2021 → May 28 2021

Publication series

Name	Proceedings of the American Control Conference
Volume	2021-May
ISSN (Print)	0743-1619

Conference

Conference	2021 American Control Conference, ACC 2021
Country/Territory	United States
City	Virtual, New Orleans
Period	5/25/21 → 5/28/21

Bibliographical note

Publisher Copyright:
© 2021 American Automatic Control Council.

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10.23919/ACC50511.2021.9482651

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Buyukkocak, A. T., Aksaray, D., & Yazicioglu, Y. (2021). Control Synthesis using Signal Temporal Logic Specifications with Integral and Derivative Predicates. In 2021 American Control Conference, ACC 2021 (pp. 4873-4878). Article 9482651 (Proceedings of the American Control Conference; Vol. 2021-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC50511.2021.9482651

Control Synthesis using Signal Temporal Logic Specifications with Integral and Derivative Predicates. / Buyukkocak, Ali Tevfik; Aksaray, Derya; Yazicioglu, Yasin.
2021 American Control Conference, ACC 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 4873-4878 9482651 (Proceedings of the American Control Conference; Vol. 2021-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Buyukkocak, AT, Aksaray, D & Yazicioglu, Y 2021, Control Synthesis using Signal Temporal Logic Specifications with Integral and Derivative Predicates. in 2021 American Control Conference, ACC 2021., 9482651, Proceedings of the American Control Conference, vol. 2021-May, Institute of Electrical and Electronics Engineers Inc., pp. 4873-4878, 2021 American Control Conference, ACC 2021, Virtual, New Orleans, United States, 5/25/21. https://doi.org/10.23919/ACC50511.2021.9482651

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AB - In many applications, the integrals and derivatives of signals carry valuable information (e.g., cumulative success over a time window, the rate of change) regarding the behavior of the underlying system. In this paper, we extend the expressiveness of Signal Temporal Logic (STL) by introducing predicates that can define rich properties related to the integral and derivative of a signal. For control synthesis, the new predicates are encoded into mixed-integer linear inequalities and are used in the formulation of a mixed-integer linear program to find a trajectory that satisfies an STL specification. We discuss the benefits of using the new predicates and illustrate them in a case study showing the influence of the new predicates on the trajectories of an autonomous robot.

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Control Synthesis using Signal Temporal Logic Specifications with Integral and Derivative Predicates

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