Control Barrier Functions with Actuation Constraints under Signal Temporal Logic Specifications

Autor:	Ali Tevfik Buyukkocak, Derya Aksaray, Yasin Yazicioglu
Jazyk:	angličtina
Rok vydání:	2022
Předmět:	FOS: Electrical engineering electronic engineering information engineering Systems and Control (eess.SY) Electrical Engineering and Systems Science - Systems and Control
Popis:	We propose control barrier functions (CBFs) for a family of dynamical systems to satisfy a broad fragment of Signal Temporal Logic (STL) specifications, which may include subtasks with nested temporal operators or conflicting requirements (e.g., achieving multiple subtasks within the same time interval). The proposed CBFs take into account the actuation limits of the dynamical system as well as a feasible sequence of subtasks, and they define time-varying feasible sets of states the system must always stay inside. We show some theoretical results on the correctness of the proposed method. We illustrate the benefits of the proposed CBFs and compare their performance with the existing methods via simulations. Accepted to the 2022 European Control Conference (ECC)
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b609a3132d196f1e310dd15bcdd0414a http://arxiv.org/abs/2204.03631 Zobrazit plný text záznamu