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arXiv · 1703.07094

Prescribed Performance Control for Signal Temporal Logic Specifications

Lars Lindemann·Christos K. Verginis·Dimos V. Dimarogonas
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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.

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Lars Lindemann, Christos K. Verginis, Dimos V. Dimarogonas. 2017-03-21. Prescribed Performance Control for Signal Temporal Logic Specifications. https://arxiv.org/abs/1703.07094

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