Piecewise output feedback control for affine systems with disturbances based on linear temporal logic specifications

In the paper, we investigate the problem of finding a piecewise output feedback control law for an uncertain affine system such that the resulting closed-loop output satisfies a desired linear temporal logic (LTL) specification. A twolevel hierarchical approach is proposed to solve the problem in a triangularized output space. In the lower level, we explore whether there exists a robust output feedback control law to make the output starting in a simplex either remains in it or leaves via a specific facet. In the higher level, for the triangularization, we construct the transition system according to the reachability relationship obtained in the lower level and search for feasible paths that meet the LTL specification. The control approach is then applied to solve a motion planning problem.