Observer-based Control of Multi-agent Systems under STL Specifications
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Acceso en línea: | |
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| _version_ | 1866914307899392000 |
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| author | Zaccherini, Tommaso Liu, Siyuan Dimarogonas, Dimos V. |
| author_facet | Zaccherini, Tommaso Liu, Siyuan Dimarogonas, Dimos V. |
| contents | This paper proposes a decentralized controller for large-scale heterogeneous multi-agent systems subject to bounded external disturbances, where agents must satisfy Signal Temporal Logic (STL) specifications requiring cooperation among non-communicating agents. To address the lack of direct communication, we employ a decentralized k-hop Prescribed Performance State Observer (k-hop PPSO) to provide each agent with state estimates of those agents it cannot communicate with. By leveraging the performance bounds on the state estimation errors guaranteed by the k-hop PPSO, we first modify the space robustness of the STL tasks to account for these errors, and then exploit the modified robustness to design a decentralized continuous-time feedback controller that ensures satisfaction of the STL tasks even under worst-case estimation errors. A simulation result is provided to validate the proposed framework. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_05586 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Observer-based Control of Multi-agent Systems under STL Specifications Zaccherini, Tommaso Liu, Siyuan Dimarogonas, Dimos V. Systems and Control This paper proposes a decentralized controller for large-scale heterogeneous multi-agent systems subject to bounded external disturbances, where agents must satisfy Signal Temporal Logic (STL) specifications requiring cooperation among non-communicating agents. To address the lack of direct communication, we employ a decentralized k-hop Prescribed Performance State Observer (k-hop PPSO) to provide each agent with state estimates of those agents it cannot communicate with. By leveraging the performance bounds on the state estimation errors guaranteed by the k-hop PPSO, we first modify the space robustness of the STL tasks to account for these errors, and then exploit the modified robustness to design a decentralized continuous-time feedback controller that ensures satisfaction of the STL tasks even under worst-case estimation errors. A simulation result is provided to validate the proposed framework. |
| title | Observer-based Control of Multi-agent Systems under STL Specifications |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2602.05586 |