Robust Temporal Logic Motion Control via Disturbance Observers
Robust Temporal Logic Motion Control via Disturbance Observers
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DOI：
10.1109/tie.2022.3229327
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发表时间：
2023-08
影响因子：
7.7
通讯作者：
Chenqian Zhou;Jun Yang;Shihua Li;Wen-Hua Chen
中科院分区：
文献类型：
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作者：
Chenqian Zhou;Jun Yang;Shihua Li;Wen-Hua Chen
现有的运动控制系统主要涉及给定参考跟踪或稳定。机器人和自主系统的高度自治要求新的运动控制方法来实现更复杂的目标，而不是给定的参考，同时保持相关的安全条件。本文研究一类扰动系统的鲁棒时序逻辑运动控制问题。采用干扰观测器（DOB）进行非匹配干扰估计，并引入信号时序逻辑（STL）公式来表达复杂的序列任务。对于原子时间逻辑公式，为了使其鲁棒语义最大化，利用规定性能函数的暂态特性和DOB构造了连续反馈复合控制器。然后，我们提出了一种合适的切换控制策略，以保证由原子时间逻辑公式的连接组成的STL规范的满足。当给定的STL公式满足时，用户指定的系统鲁棒性满足时序逻辑规范。实验结果验证了该方法的有效性。
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 article 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 DOB. 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.