Symbolic Control of Hybrid Systems from Signal Temporal Logic Specifications

Abstract

In safety-critical systems, it is desirable to automatically synthesize controllers for complex tasks with guaranteed safety and correctness. Although much progress has been made through controller synthesis from temporal logic specifications, existing approaches generally require conservative assumptions and do not scale well with system dimensionality. We propose a scalable, provably complete algorithm that synthesizes continuous trajectories for hybrid systems to satisfy temporal logic specifications. Specifically, we harness highly efficient Boolean satisfiability (SAT) and Linear Programming (LP) solvers to find trajectories that satisfy non-convex Signal Temporal Logic (STL) specifications for a class of high dimensional hybrid systems. The proposed design algorithms are proven sound and complete, and are validated in simulation experiments.