Distributed Control of Coupled Leader-follower Multi-agent Systems under Spatiotemporal Logic Tasks

Abstract

This paper addresses the problem of cooperative control of leader-follower multi-agent systems under local signal temporal logic (STL) tasks in a distributed fashion, where the overall system is composed of several leader-follower subsystems with coupled dynamics. In this work, only the leaders know the related STL specifications and are designed to drive the followers in a way such that the STL specifications are globally satisfied. Under the local feasibility assumption, we propose a funnel-based control approach for each leader-follower subsystem such that the local STL specifications are achieved, which further implies the global satisfaction of all STL specifications. In order to enforce the satisfaction of the STL formulas, the funnel parameters are appropriately designed to prescribe certain transient behavior that constrains the closed-loop trajectories. The proposed approach is illustrated by a simulation example.