Funnel-based Cooperative Control of Leader-follower Multi-agent Systems under Signal Temporal Logic Specifications

Control of multi-agent systems under temporal logical specifications has been popular due to its ability to tackle complex tasks that cannot be easily defined as classic control objectives. In this paper, a general class of leader-follower multi-agent systems subject to certain fragments of signal t...

Full description

Saved in:
Bibliographic Details
Published in2022 European Control Conference (ECC) pp. 906 - 911
Main Authors Chen, Fei, Dimarogonas, Dimos V.
Format Conference Proceeding
LanguageEnglish
Published EUCA 12.07.2022
Subjects
Behavioral sciences
Control systems
Couplings
Europe
Task analysis
Trajectory
Transient analysis
Online AccessGet full text

Cover

More Information
Summary:Control of multi-agent systems under temporal logical specifications has been popular due to its ability to tackle complex tasks that cannot be easily defined as classic control objectives. In this paper, a general class of leader-follower multi-agent systems subject to certain fragments of signal temporal logic (STL) specifications is considered. We first propose a funnel-based control strategy for the leader-follower multi-agent systems to enforce the satisfaction of the basic STL formulas by prescribing certain transient behavior on the funnels that constrain the closed-loop trajectories. A hybrid control strategy is then leveraged to satisfy the sequential STL formulas. Finally, a simulation example is given to illustrate the results.
DOI:10.23919/ECC55457.2022.9838497