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This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based methods, the proposed framework directly characterizes the winning set, i.e., the set of initial conditions from which a given LTL formula can be realized, over the continuous state space of the system via a monotonic operator. Following this characterization, an algorithm is proposed to practically approximate the operator via an adaptive interval subdivision scheme, which yields a finite-memory control strategy. We show that the proposed algorithm is sound for full LTL specifications, and robustly complete for specifications recognizable by deterministic Buchi automata (DBA), the latter in the sense that control strategies can be found whenever the given specification can be satisfied with additional bounded disturbances. Without having to compute and store the abstraction and the resulting product system with the DBA, the proposed method is more memory efficient, which is demonstrated by complexity analysis and performance tests. A pre-processing stage is also devised to reduce computational cost via a decomposition of the specification. We show that the proposed method can effectively solve real-world control problems such as jet engine compressor control and motion planning for manipulators and mobile robots.
We propose algorithms for performing model checking and control synthesis for discrete-time uncertain systems under linear temporal logic (LTL) specifications. We construct temporal logic trees (TLT) from LTL formulae via reachability analysis. In co
We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the control syn
A framework for the event-triggered control synthesis under signal temporal logic (STL) tasks is proposed. In our previous work, a continuous-time feedback control law was designed, using the prescribed performance control technique, to satisfy STL t
This paper studies the robust satisfiability check and online control synthesis problems for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing techniques, this work proposes an approach bas
This paper focuses on developing a new paradigm motivated by investigating the consensus problem of networked Lagrangian systems with time-varying delay and switching topologies. We present adaptive controllers with piecewise continuous or arbitrary