Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks
Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks
复制标题
DOI：
10.23919/ecc.2019.8796109
复制
发表时间：
2019-06
期刊：
影响因子：
--
通讯作者：
Lars Lindemann;Dimos V. Dimarogonas
中科院分区：
文献类型：
--
作者：
Lars Lindemann;Dimos V. Dimarogonas
我们研究了在一组信号时序逻辑任务下控制多智能体系统的问题。信号时序逻辑是一种用来表达动态系统的时间和空间约束的形式化方法。最近的方法来解决信号时序逻辑任务下的单智能体系统的控制综合问题，然而，受到高计算复杂度。多代理系统的方法至少与代理的数量成线性关系，并导致更高的计算负担。我们提出了一个计算效率高的控制策略来解决多智能体控制合成问题，结果在一组信号时序逻辑任务的鲁棒满意度。特别地，提出了一种基于时变控制障碍函数的分散反馈控制律。所得到的控制律是不连续的，并通过非光滑分析提供了形式保证。仿真结果表明了该方法的有效性。
We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the control synthesis problem for single-agent systems under signal temporal logic tasks are, however, subject to a high computational complexity. Methods for multi-agent systems scale at least linearly with the number of agents and induce even higher computational burdens. We propose a computationally-efficient control strategy to solve the multi-agent control synthesis problem that results in a robust satisfaction of a set of signal temporal logic tasks. In particular, a decentralized feedback control law is proposed that is based on time-varying control barrier functions. The obtained control law is discontinuous and formal guarantees are provided by nonsmooth analysis. Simulations show the efficacy of the presented method.