Past-time Signal Temporal Logic Hybrid Switching Control for Underwater Vehicles

We introduce a hybrid switching control design that uses past-time Signal Temporal Logic (ptSTL) for performance monitoring of mission requirements. Our control scheme monitors a set of ptSTL requirements using the robustness metric and switches between predefined control objectives. Each control objective uses a controller that globally asymptotically tracks a desired trajectory. The paper includes a simulation case study of a docking sequence for a Remotely Operated Vehicle (ROV) developed in Gazebo and the Robotics Operating System (ROS2). The docking sequence monitors four requirements, and time series of the ROV’s pose and ptSTL robustness signals are presented.