Control Design for Risk-Based Signal Temporal Logic Specifications
Sleiman Safaoui, Lars Lindemann, Dimos Dimarogonas, Iman Shames, Tyler H Summers
IEEE Control Systems Letters | Institute of Electrical and Electronics Engineers | Published : 2020
We present a general framework for risk semantics on Signal Temporal Logic (STL) specifications for stochastic dynamical systems using axiomatic risk theory. We show that under our recursive risk semantics, risk constraints on STL formulas can be expressed in terms of risk constraints on atomic predicates. We then show how this allows a ( stochastic ) STL risk constraint to be transformed into a risk-tightened deterministic STL constraint on a related deterministic nominal system, enabling the application of existing STL methods. For affine predicate functions and a (coherent) Distributionally Robust Value at Risk measure, we show how risk constraints on atomic predicates can be reformulated..View full abstract
Awarded by United States Air Force Office of Scientific Research
Awarded by Defence Science and Technology Group, Australian Government (MyIP)
This work was supported in part by the United States Air Force Office of Scientific Research under Award FA2386-19-1-4073, and in part by the Swedish Research Council (VR) and Defence Science and Technology Group, Australian Government (MyIP) under Agreement ID9156.