Time Constrained Temporal Logic Control of Multi Affine Systems

In this paper, we consider the problem of controlling a dynamical system such that its trajectories satisfy a temporal logic property in a given amount of time. We focus on multiaffine systems and specifications given as syntactically co-safe linear temporal logic formulas over rectangular regions in the state space. The proposed algorithm is based on the estimation of time bounds for facet reachability problems and solving a time optimal reachability problem on the product between a weighted transition system and an automaton that enforces the satisfaction of the specification. A random optimization algorithm is used to iteratively improve the solution