论文标题
基于风险的信号时间逻辑规范的控制设计
Control Design for Risk-Based Signal Temporal Logic Specifications
论文作者
论文摘要
我们提出了使用公理风险理论的信号时间逻辑（STL）规格的风险语义的一般框架。我们表明，在我们的递归风险语义下，可以根据原子谓词的风险限制来表示STL公式的风险限制。然后，我们展示了如何将（随机的）STL风险约束转换为相关确定性标称系统的风险污染确定性STL约束，从而实现了现有的STL方法的应用。对于仿射谓词功能和（相干）在风险度量下的（相干）分布稳定的值，我们展示了如何将原子谓词的风险限制重新构成，因为确定性的仿射约束。我们使用具有STL风险限制的模型预测控制（MPC）设计来演示框架。
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 as tightened deterministic affine constraints. We demonstrate the framework using a Model Predictive Control (MPC) design with an STL risk constraint.
