High Order Control Lyapunov-Barrier Functions for Temporal Logic Specifications

被引：0

作者：

Xiao, Wei ^{[1
,2
]}

Belta, Calin A. ^{[1
,2
]}

Cassandras, Christos G. ^{[1
,2
]}

机构：

[1] Boston Univ, Div Syst Engn, Brookline, MA 02446 USA

[2] Boston Univ, Ctr Informat & Syst Engn, Brookline, MA 02446 USA

来源：

2021 AMERICAN CONTROL CONFERENCE (ACC) | 2021年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Recent work has shown that stabilizing an affine control system to a desired state while optimizing a quadratic cost subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs). In our own recent work, we defined High Order CBFs (HOCBFs) for systems and constraints with arbitrary relative degrees. In this paper, in order to accommodate initial states that do not satisfy the state constraints and constraints with arbitrary relative degree, we generalize HOCBFs to High Order Control Lyapunov-Barrier Functions (HOCLBFs). We also show that the proposed HOCLBFs can be used to guarantee the Boolean satisfaction of Signal Temporal Logic (STL) formulae over the state of the system. We illustrate our approach on a safety-critical optimal control problem (OCP) for a unicycle.

引用

页码：4886 / 4891

页数：6