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Robust temporal logic motion control via disturbance observers

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posted on 2023-02-02, 10:53 authored by Chenqian Zhou, Jun YangJun Yang, Shihua Li, Wen-Hua ChenWen-Hua Chen
The existing motion control systems are largely concerning given reference tracking or stabilization. High-level of autonomy within robotics and autonomous systems demands new motion control methods to realize more complex goals rather than given references, while maintain involved safety conditions. This paper tackles the robust temporal logic motion control problem for a class of disturbed systems. A disturbance observer (DOB) is used for unmatched disturbance estimation, and signal temporal logic (STL) formulas are introduced to express complex sequential tasks. For atomic temporal logic formulas, in order to maximize its robust semantics, a continuous feedback composite controller is constructed by utilizing the transient characteristics of the prescribed performance function and the disturbance observer. We then present a suitable switched control strategy to guarantee the satisfaction of STL specifications consisting of conjunctions of the atomic temporal logic formulas. When the given STL formula is satisfied, the system robustness specified by the user meets the temporal logic specifications. Experimental results are illustrated to verify the effectiveness of the proposed method.

Funding

Modulator-free Performance-Oriented Control (MfPOC) for Direct Electric Drives

Engineering and Physical Sciences Research Council

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Goal-Oriented Control Systems (GOCS): Disturbance, Uncertainty and Constraints

Engineering and Physical Sciences Research Council

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National Natural Science Foundation of China under Grant 62025302

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

IEEE Transactions on Industrial Electronics

Volume

70

Issue

8

Pages

8286 - 8295

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Version

  • AM (Accepted Manuscript)

Rights holder

© IEEE

Publisher statement

© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Acceptance date

2022-11-29

Publication date

2022-12-20

Copyright date

2022

ISSN

0278-0046

eISSN

1557-9948

Language

  • en

Depositor

Dr Jun Yang. Deposit date: 1 February 2023

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