Smooth operator: Control using the smooth robustness of temporal logic

@article{Pant2017SmoothOC,
  title={Smooth operator: Control using the smooth robustness of temporal logic},
  author={Yash Pant and Houssam Abbas and Rahul Mangharam},
  journal={2017 IEEE Conference on Control Technology and Applications (CCTA)},
  year={2017},
  pages={1235-1240}
}
Modern control systems, like controllers for swarms of quadrotors, must satisfy complex control objectives while withstanding a wide range of disturbances, from bugs in their software to attacks on their sensors and changes in their environments. These requirements go beyond stability and tracking, and involve temporal and sequencing constraints on system response to various events. This work formalizes the requirements as formulas in Metric Temporal Logic (MTL), and designs a controller that… CONTINUE READING

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