Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective
Abstract
This letter offers a novel approach to Test and Evaluation of pre-existing controllers from a control barrier function and dynamics perspective. More aptly, prior Test and Evaluation techniques tend to require apriori knowledge of a space of allowable disturbances. Our work, however, determines a two-norm disturbance-bound rejectable by a system's controller without requiring specific knowledge of these disturbances beforehand. The authors posit that determination of such a disturbance bound offers a better understanding of the robustness with which a given controller achieves a specified task - as motivated through a simple, linear-system example. Additionally, we show that our resulting disturbance bound is accurate through simulation of 1000 randomized trials in which a Segway-controller pair satisfies its specification despite randomized perturbations within our identified bound.
Cite
@article{arxiv.2110.12014,
title = {Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective},
author = {Prithvi Akella and Aaron D. Ames},
journal= {arXiv preprint arXiv:2110.12014},
year = {2021}
}