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Funnel-based Cooperative Control of Leader-follower Multi-agent Systems under Signal Temporal Logic Specifications
- Publication Year :
- 2022
-
Abstract
- 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.<br />Part of proceeedings: ISBN 978-3-907144-07-7QC 20220621
Details
- Database :
- OAIster
- Notes :
- Chen, Fei, Dimarogonas, Dimos V.
- Publication Type :
- Electronic Resource
- Accession number :
- edsoai.on1349051647
- Document Type :
- Electronic Resource
- Full Text :
- https://doi.org/10.23919.ECC55457.2022.9838497