论文标题
在信号时间逻辑规范下具有致动限制的控制屏障功能
Control Barrier Functions with Actuation Constraints under Signal Temporal Logic Specifications
论文作者
论文摘要
我们提出了一个动态系统家族的控制屏障功能（CBF），以满足信号时间逻辑（STL）规范的广泛片段，其中可能包括具有嵌套颞函数运算符或冲突要求的子任务（例如，在同一时间间隔内实现多个子任务）。提出的CBF考虑了动力学系统的致动限制以及可行的子任务序列，并且它们定义了随着时变可行的状态集，该系统必须始终留在内部。我们对提出方法的正确性显示了一些理论结果。我们说明了提出的CBF的好处，并通过模拟将其性能与现有方法进行了比较。
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.
