Prescribed Performance Control for Signal Temporal Logic Specifications
Abstract
Motivated by the recent interest in formal methods-based control for dynamic robots, we discuss the applicability of prescribed performance control to nonlinear systems subject to signal temporal logic specifications. Prescribed performance control imposes a desired transient behavior on the system trajectories that is leveraged to satisfy atomic signal temporal logic specifications. A hybrid control strategy is then used to satisfy a finite set of these atomic specifications. Simulations of a multi-agent system, using consensus dynamics, show that a wide range of specifications, i.e., formation, sequencing, and dispersion, can be robustly satisfied.
Cite
@article{arxiv.1703.07094,
title = {Prescribed Performance Control for Signal Temporal Logic Specifications},
author = {Lars Lindemann and Christos K. Verginis and Dimos V. Dimarogonas},
journal= {arXiv preprint arXiv:1703.07094},
year = {2017}
}
Comments
9 pages - this an extended version of the 56th IEEE Conference on Decision and Control (2017) version