Abstract
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 its performance with the existing methods via simulations.
| Original language | English (US) |
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| Title of host publication | 2022 European Control Conference, ECC 2022 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 162-168 |
| Number of pages | 7 |
| ISBN (Electronic) | 9783907144077 |
| DOIs | |
| State | Published - 2022 |
| Event | 2022 European Control Conference, ECC 2022 - London, United Kingdom Duration: Jul 12 2022 → Jul 15 2022 |
Publication series
| Name | 2022 European Control Conference, ECC 2022 |
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Conference
| Conference | 2022 European Control Conference, ECC 2022 |
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| Country/Territory | United Kingdom |
| City | London |
| Period | 7/12/22 → 7/15/22 |
Bibliographical note
Funding Information:A.T. Buyukkocak and D. Aksaray are with the Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, MN, 55455, buyuk012@umn.edu, daksaray@umn.edu, and Y. Yazıcıog˘lu is with the Department of Electrical and Computer Engineering, University of Minnesota, Minneapolis, MN, 55455, ayasin@umn.edu This work was partially supported by a MnDRIVE Graduate Research Fellowship from the University of Minnesota.
Publisher Copyright:
© 2022 EUCA.