2022/04/07 by Ali Tevfik Büyükkoçak, Buyukkocak, Ali Tevfik, Derya Aksaray +3
Computer Science · #FOS: Electrical engineering #Formal Methods in Verification #Logic, programming, and type systems #Petri Nets in System Modeling #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2204.03631
openalex publication_date 2022/04/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We propose control barrier functions (CBFs) for a family of dynamical systems to satisfy a broad fragment of Signal Temporal Logic (STL) specifications, which may include subtasks with nested temporal operators or conflicting requirements (e.g., achieving multiple subtasks within the same time interval). The proposed CBFs take into account the actuation limits of the dynamical system as well as a feasible sequence of subtasks, and they define time-varying feasible sets of states the system must always stay inside. We show some theoretical results on the correctness of the proposed method. We illustrate the benefits of the proposed CBFs and compare their performance with the existing methods via simulations.