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Temporal logic disturbance rejection control of nonlinear systems using control barrier functions

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posted on 2025-03-13, 14:36 authored by Chengqian Zhou, Jun YangJun Yang, Shihua Li, Wen-Hua ChenWen-Hua Chen
The high level of autonomy within autonomous systems demands new control strategies to achieve more complex objectives while ensuring both safety and robustness, rather than relying solely on a given reference. To this end, this article addresses the problem of temporal logic disturbance rejection control (TLDRC) for a class of nonlinear systems subject to disturbances. Signal temporal logic (STL) specifications are introduced for the representation of complex tasks. A control barrier function (CBF), composed of a monotonic function characterizing the temporal behavior of the system and a predicate function, is constructed to encode the STL specifications. To guarantee robustness against disturbances, generalized proportional integral observers (GPIOs) are introduced for higher-accuracy disturbance estimation. It is shown that by fully exploiting the constructed CBF and the disturbance estimate, the developed TLDRC strategy is able to ensure the STL specifications and compensate undesirable effects caused by unknown disturbances, even if they are fast-time-varying. A numerical example is presented to illustrate the effectiveness of the proposed strategy.

Funding

National Natural Science Foundation of China (Grant Number: 62025302)

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

IEEE Transactions on Cybernetics

Volume

55

Issue

3

Pages

1008 - 1017

Publisher

IEEE

Version

  • AM (Accepted Manuscript)

Rights holder

© IEEE

Publisher statement

© 2024 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

2024-12-07

Publication date

2024-12-24

Copyright date

2024

ISSN

2168-2267

eISSN

2168-2275

Language

  • en

Depositor

Dr Jun Yang. Deposit date: 5 March 2025

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