论文标题
信号时间逻辑任务下的耦合多代理系统的分散控制屏障函数
Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks
论文作者
论文摘要
我们研究了在一组信号时间逻辑任务下控制多机构系统的问题。信号时间逻辑是一种形式主义，用于表达动态系统的时间和空间约束。但是，在信号时间逻辑任务下，解决单格系统的控制综合问题的最新方法是符合较高的计算复杂性。多代理系统的方法至少与代理数量线性线性线性，并引起更高的计算负担。我们提出了一种计算效率的控制策略，以解决多代理控制合成问题，从而使一组信号时间逻辑任务具有强大的满意度。特别是，提出了基于时变控制障碍功能的分散反馈控制法。获得的控制法是不连续的，并通过非平滑分析提供了正式的保证。模拟显示了提出方法的功效。
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.
