不确定环境下形式化描述的鲁棒控制策略
Robust Control Policies given Formal Specifications in Uncertain Environments
摘要：
研究了受不确定干扰影响的复杂线性系的鲁棒控制综合问题。这项工作的动机是自治系统与部分已知的，时变的环境进行交互。给定有界线性时态逻辑中的规范，我们提出了一种方法来合成控制策略，满足所有考虑的干扰，其中干扰影响的原子命题的规范的规范。我们的方法依赖于引入仿射扰动反馈策略和铸造的问题作为一个双线性最优化问题。我们引入一个内部近似的约束集导致一个混合整数二次规划，可以使用通用求解器来解决。该框架被证明是一个数值案例研究与自动驾驶的应用。
英文摘要：
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given a specification in bounded linear temporal logic, we propose a method to synthesize control policies that fulfill the specification for all considered disturbances, where the disturbances affect the atomic propositions of the specification. Our approach relies on introducing affine disturbance feedback policies and casting the problem as a bilinear optimization problem. We introduce an inner approximation of the constraint set leading to a mixed-integer quadratic program that can be solved using general-purpose solvers. The framework is demonstrated on a numerical case study with applications to autonomous driving.
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