Temporal Logic Disturbance Rejection Control of Nonlinear Systems Using Control Barrier Functions

Area of Science:

• Control Theory
• Autonomous Systems
• Nonlinear Dynamics

Background:

• Autonomous systems require advanced control for complex tasks and robustness against disturbances.
• Existing control strategies may not adequately handle complex objectives or unpredictable disturbances.

Purpose of the Study:

• To develop a temporal logic disturbance rejection control (TLDRC) strategy for nonlinear systems.
• To ensure safety and robustness in autonomous systems facing complex tasks and disturbances.
• To address the limitations of reference-based control in highly autonomous systems.

Main Methods:

• Utilizing Signal Temporal Logic (STL) for specifying complex tasks.
• Constructing a Control Barrier Function (CBF) encoding STL specifications.
• Employing Generalized Proportional Integral Observers (GPIOs) for accurate disturbance estimation.
• Integrating CBF and disturbance estimates for a comprehensive TLDRC strategy.

Main Results:

• The proposed TLDRC strategy successfully ensures STL specifications for nonlinear systems.
• The method demonstrates robustness against fast-time-varying and unknown disturbances.
• The control strategy compensates for undesirable effects caused by disturbances.
• A numerical example validates the effectiveness of the developed TLDRC approach.

Conclusions:

• The TLDRC strategy offers a robust solution for complex control objectives in autonomous systems.
• The integration of CBF and GPIOs provides effective disturbance rejection and task satisfaction.
• This approach enhances the safety and reliability of autonomous systems under uncertain conditions.