Prescribed Performance Control for Signal Temporal Logic Specifications

被引：0
|
作者：
Lindemann, Lars [1 ]
Verginis, Christos K. [1 ]
Dimarogonas, Dimos V. [1 ]
机构：
[1] Royal Inst Technol KTH, Sch Elect Engn, Dept Automat Control, S-10044 Stockholm, Sweden
来源：
2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2017年
基金：
瑞典研究理事会; 欧盟地平线“2020”; 欧洲研究理事会;
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
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页数：6
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