Robust Temporal Logic Motion Control via Disturbance Observers

The existing motion control systems are largely concerning given reference tracking or stabilization. High-level of autonomy within robotics and autonomous demands new methods to realize more complex goals rather than references, while maintain involved safety conditions. This paper tackles the robust temporal logic problem for a class disturbed systems. A disturbance observer (DOB) is used unmatched estimation, signal (STL) formulas introduced express sequential tasks. For atomic formulas, in order maximize its semantics, continuous feedback composite controller constructed by utilizing transient characteristics prescribed performance function observer. We then present suitable switched strategy guarantee satisfaction STL specifications consisting conjunctions formulas. When formula satisfied, system robustness specified user meets specifications. Experimental results illustrated verify effectiveness proposed method.