In this paper we study the problem of synthesizing optimal control policies for uncertain continuous-time nonlinear systems from syntactically co-safelinear temporal logic (scLTL) formulas . We formulate this problem as a sequence of reach-avoid optimal control sub-problems . We show that the resulting hybridoptimal control policy guarantees the satisfaction of a given scLTL formula by constructing a barrier certificate . We take a learning-based approach toapproximately solve this sequence of optimal control problems online without requiring full knowledge of the system dynamics .

Author(s) : Max Cohen, Calin Belta

Links : PDF - Abstract

Code :

https://github.com/nhynes/abc


Coursera

Keywords : control - optimal - logic - problem - problems -

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