Distributed MPC With Continuous-Time STL Constraint Satisfaction Guarantees

In this work a distributed model predictive control scheme (dMPC) is proposed for a multi-agent team that is subject to a set of time-constrained spatial tasks encoded in Signal Temporal Logic (STL). Here, the agents are subject to both individual and collaborative STL tasks. In order to ensure the...

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Bibliographic Details
Published inIEEE control systems letters Vol. 8; p. 1
Main Authors Charitidou, Maria, Dimarogonas, Dimos V.
Format Journal Article
LanguageEnglish
Published IEEE 01.01.2024
Subjects
Collaboration
Linear systems
Model Predictive Control
Multi-agent systems
Robustness
Safety
Sampled-data control
Semantics
Signal Temporal Logic
Task analysis
Time factors
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Summary:In this work a distributed model predictive control scheme (dMPC) is proposed for a multi-agent team that is subject to a set of time-constrained spatial tasks encoded in Signal Temporal Logic (STL). Here, the agents are subject to both individual and collaborative STL tasks. In order to ensure the satisfaction of the collaborative tasks while avoiding the computational burden of a centralized problem, we propose a sequential dMPC scheme and show the recursive feasibility property of the framework given appropriately designed terminal ingredients. The resulting MPC problems are solved in discrete-time yet continuous-time satisfaction of the STL tasks is ensured with appropriate tightening of the constraint sets.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2024.3361971