Mathematics – Optimization and Control
Scientific paper
2012-03-13
Mathematics
Optimization and Control
Technical report accompanying a paper to be presented at ACC 2012
Scientific paper
This paper considers receding horizon control of finite deterministic systems, which must satisfy a high level, rich specification expressed as a linear temporal logic formula. Under the assumption that time-varying rewards are associated with states of the system and they can be observed in real-time, the control objective is to maximize the collected reward while satisfying the high level task specification. In order to properly react to the changing rewards, a controller synthesis framework inspired by model predictive control is proposed, where the rewards are locally optimized at each time-step over a finite horizon, and the immediate optimal control is applied. By enforcing appropriate constraints, the infinite trajectory produced by the controller is guaranteed to satisfy the desired temporal logic formula. Simulation results demonstrate the effectiveness of the approach.
Belta Calin
Ding Xuchu
Lazar Mircea
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