Temporal Logic Disturbance Rejection Control of Nonlinear Systems Using Control Barrier Functions
针对受扰非线性系统，提出一种时态逻辑抗扰控制策略，利用控制屏障函数编码信号时态逻辑任务，并通过广义比例积分观测器估计扰动，确保复杂任务满足与鲁棒性。
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.