Multiple tasks control of nonlinear systems under signal temporal logic and its application to mobile robots
Feifan Wu,
Lijun Long
Abstract:This paper addresses the control problem of complex temporal logic tasks for nonlinear systems. A new control barrier function (CBF) called time‐varying extent‐compatible control barrier function (TV‐ECCBF) is proposed, which extends the traditional CBF by considering time‐varying extent or volumes. The main aim of TV‐ECCBF is to tackle the issue of avoiding obstacles in real‐world situations that have irregular or dynamically changing shapes, which cannot be efficiently resolved through traditional CBF method… Show more
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