Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective

Prithvi Akella; Aaron D. Ames

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arXiv · 2110.12014

Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective

Prithvi Akella·Aaron D. Ames

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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.

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Prithvi Akella, Aaron D. Ames. 2021-10-22. Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective. https://arxiv.org/abs/2110.12014

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