Risk-Bounded Temporal Logic Control of Continuous-Time Stochastic Systems
Risk-Bounded Temporal Logic Control of Continuous-Time Stochastic Systems
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DOI：
10.23919/acc53348.2022.9867734
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发表时间：
2022-04
期刊：
影响因子：
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通讯作者：
Sleiman Safaoui;Lars Lindemann;I. Shames;T. Summers
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文献类型：
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作者：
Sleiman Safaoui;Lars Lindemann;I. Shames;T. Summers
受最近对风险感知控制的兴趣的推动，我们研究了连续时间控制综合问题，以限制随机线性系统违反给定规范的风险。我们使用风险信号时间逻辑作为规范形式，其中考虑分布稳健的风险谓词并配备常用的布尔和时间运算符。我们的控制方法依赖于将这些风险谓词重新表述为系统均值和协方差状态的确定性谓词。然后，我们从规范的定时自动机表示中获得均值和协方差状态集的定时序列。为了避免自动机状态数量的爆炸，我们提出启发式方法来有效地找到候选序列。为了执行和检查这些序列的动态可行性，我们提出了一种基于时间离散化和约束紧缩的采样数据控制技术，该技术允许执行定时转换，同时满足连续时间约束。
Motivated by the recent interest in risk-aware control, we study a continuous-time control synthesis problem to bound the risk that a stochastic linear system violates a given specification. We use risk signal temporal logic as a specification formalism in which distributionally robust risk predicates are considered and equipped with the usual Boolean and temporal operators. Our control approach relies on reformulating these risk predicates as deterministic predicates over mean and covariance states of the system. We then obtain a timed sequence of sets of mean and covariance states from the timed automata representation of the specification. To avoid an explosion in the number of automata states, we propose heuristics to find candidate sequences effectively. To execute and check dynamic feasibility of these sequences, we present a sampled-data control technique based on time discretization and constraint tightening that allows to perform timed transitions while satisfying the continuous-time constraints.