Controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multiagent Systems via Assume-Guarantee Contracts

• 成果类型: Article
• 署名作者: Liu, Siyuan; Saoud, Adnane; Dimarogonas, Dimos V.
• 署名单位: Royal Institute of Technology; Mohammed VI Polytechnic University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3549288
• 发表日期: 2025
• 页码: 5894-5909
• 关键词: Contracts; Multi-agent systems; logic; Robustness; semantics; collaboration; Interconnected systems; Couplings; cognition; Aerospace electronics; Assume-guarantee contracts (AGC); Distributed control; formal methods; multiagent systems; prescribed performance control; signal temporal logics (STL)

摘要

This article considers the problem of controller synthesis of a fragment of signal temporal logic (STL) specifications for large-scale multiagent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional framework based on continuous-time assume-guarantee contracts (AGCs) is developed to break the complex and large synthesis problem into subproblems of manageable sizes. We first show how to formulate the collaborative STL tasks as AGCs by leveraging the idea of prescribed performance control. The concept of contracts is used to establish our compositionality result, which allows us to guarantee the satisfaction of a global contract by the multiagent system when all agents satisfy their local contracts. Then, a closed-form continuous-time feedback controller is designed to enforce local contracts over the agents in a distributed manner, which further guarantees global task satisfaction based on the compositionality result. The effectiveness of our results is demonstrated by two numerical examples.