Control Synthesis for Multi-Agent Systems under Coupled Signal Temporal Logic Tasks : A Top-Down Model Predictive Approach

Open Access
Author:
Description:
Nowadays autonomous systems are expected to perform complex tasks that go beyond traditional control objectives such as setpoint tracking or consensus of multi-agent systems. More specifically, in a plethora of applications agents often need to collaborate with their peers in order to perform a variety of spatial tasks within strict deadlines. Spatio-temporal tasks of this form can be easily expressed in Signal Temporal Logic (STL), a predicate language that allow us to formally introduce time-constrained tasks defined as Boolean combinations of simpler subformulas involving temporal operators such as the always, eventually and until operator. In this thesis we consider the problem of control under high-level specifications for single as well as multi-agent systems. Our work is divided in three parts. In the first part we consider spatio-temporal objectives expressed in Signal Temporal Logic and propose feedback control laws guaranteeing the satisfaction of the tasks under consideration using various levels of state information. First, motivated by multi-platoon coordination scenarios we design a nonlinear feedback control law ensuring minimal violation of a STL task involving merging and splitting of given pairs of platoons when the satisfaction of the task can not be achieved due to actuation limitations. Next, we propose a novel control barrier function to encode the satisfaction of a STL fragment involving disjunctions of selected STL tasks. As a further contribution, we propose a distributed switching feedback control law for the satisfaction of a given set of relative position-based STL tasks that is based on the prescribed performance control philosophy. In the second part model predictive control schemes are designed for single and multi-agent systems subject to STL, input and state constraints. Contrary to state of the art, the proposed approaches encode the satisfaction of the STL tasks under consideration using continuous variables. In addition, the proposed MPC schemes are shown to be recursively ...
Publisher:
KTH, Reglerteknik ; Stockholm
Year of Publication:
2024
Document Type:
Doctoral thesis, comprehensive summary ; info:eu-repo/semantics/doctoralThesis ; text ; [Doctoral and postdoctoral thesis]
Language:
eng
Subjects:
Signal Temporal Logic ; multi-agent systems ; Model Predictive Control ; nonlinear control ; formal methods ; Control Engineering ; Reglerteknik
DDC:
006 Special computer methods (computed)
Rights:
info:eu-repo/semantics/openAccess
Relations:
TRITA-EECS-AVL ; 2024:51 ; orcid:0000-0002-2356-1543 ; http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-346642 ; urn:isbn:978-91-8040-944-5
URL:
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-346642
Content Provider:
Kungliga Tekniska Högskolan, Stockholm: KTHs Publikationsdatabas DiVA
Further nameRoyal Institute of Technology, Stockholm: KTHs Publication Database DiVA  Flag of Sweden