Continuous-Time Nonlinear Optimal Control Problem Under Signal Temporal Logic Constraints

This work introduces a novel method for solving optimal control problems under Signal Temporal Logic (STL) constraints, by implementing STL constraints into the dynamics. Our approach reformulates the original problem as a classical continuous-time optimal control problem. Specifically, we extend the original dynamics by introducing auxiliary variables that encode STL satisfaction through their evolution and boundary conditions. Numerical simulations are realized to demonstrate the feasibility of our method, highlighting its potential for practical applications.