Motivated by the recent interest in formal methods-based control for dynamicrobots, we discuss the applicability of prescribed performance control tononlinear systems subject to signal temporal logic specifications. Prescribedperformance control imposes a desired transient behavior on the systemtrajectories that is leveraged to satisfy atomic signal temporal logicspecifications. A hybrid control strategy is then used to satisfy a finite setof these atomic specifications. Simulations of a multi-agent system, usingconsensus dynamics, show that a wide range of specifications, i.e., formation,sequencing, and dispersion, can be robustly satisfied.
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