期刊
IEEE CONTROL SYSTEMS LETTERS
卷 3, 期 1, 页码 96-101出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LCSYS.2018.2853182
关键词
Autonomous systems; constrained control; hybrid systems
资金
- Swedish Research Council
- European Research Council
- Swedish Foundation for Strategic Research
- EU
- SRA ICT TNG Project STaRT
- Knut and Alice Wallenberg Foundation
The need for computationally-efficient control methods of dynamical systems under temporal logic tasks has recently become more apparent. Existing methods are computationally demanding and hence often not applicable in practice. Especially with respect to multi-robot systems, these methods do not scale computationally. In this letter, we propose a framework that is based on control barrier functions and signal temporal logic. In particular, time-varying control barrier functions are considered where the temporal properties are used to satisfy signal temporal logic tasks. The resulting controller is given by a switching strategy between a computationally-efficient convex quadratic program and a local feedback control law.
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