Distributionally Robust Control for Chance-Constrained Signal Temporal Logic Specifications

Document detail

ID

oai:arXiv.org:2409.03855

Topic

Electrical Engineering and Systems... Mathematics - Optimization and Con...

Author

Kordabad, Arash Bahari Vlahakis, Eleftherios E. Lindemann, Lars Dimarogonas, Dimos V. Soudjani, Sadegh

Year

2024

listing date

9/11/2024

Keywords

chance-constrained systems

Metrics

Abstract

We consider distributionally robust optimal control of stochastic linear systems under signal temporal logic (STL) chance constraints when the disturbance distribution is unknown.

By assuming that the underlying predicate functions are Lipschitz continuous and the noise realizations are drawn from a distribution having a concentration of measure property, we first formulate the underlying chance-constrained control problem as stochastic programming with constraints on expectations and propose a solution using a distributionally robust approach based on the Wasserstein metric.

We show that by choosing a proper Wasserstein radius, the original chance-constrained optimization can be satisfied with a user-defined confidence level.

A numerical example illustrates the efficacy of the method.

;Comment: 8 pages and 1 fiugre

Kordabad, Arash Bahari,Vlahakis, Eleftherios E.,Lindemann, Lars,Dimarogonas, Dimos V.,Soudjani, Sadegh, 2024, Distributionally Robust Control for Chance-Constrained Signal Temporal Logic Specifications