Control of Multi-Agent Systems with Finite Time Control Barrier Certificates and Temporal Logic
| Autor: | Mohit Srinivasan, Magnus Egerstedt, Samuel Coogan |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Dynamical systems theory Computer science Reachability problem Multi-agent system 02 engineering and technology Systems and Control (eess.SY) Invariant (physics) Set (abstract data type) Computer Science - Robotics 020901 industrial engineering & automation Linear temporal logic Control theory Optimization and Control (math.OC) 0202 electrical engineering electronic engineering information engineering FOS: Electrical engineering electronic engineering information engineering FOS: Mathematics State space Computer Science - Systems and Control 020201 artificial intelligence & image processing Temporal logic Mathematics - Optimization and Control Robotics (cs.RO) |
| Zdroj: | CDC |
| DOI: | 10.48550/arxiv.1808.02393 |
| Popis: | In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence to a desired set in the state space is guaranteed under the existence of a suitable finite time convergence control barrier function. In addition, these barrier functions also guarantee forward invariance once the system converges to the desired set. This allows us to formulate a theoretical framework which synthesizes controllers for the multi-agent system. These properties also enable us to solve the reachability problem in continuous time by formulating a theorem on the composition of multiple finite time convergence control barrier functions. This approach is more flexible than existing methods and also allows for a greater set of feasible control laws. Linear temporal logic is used to specify complex task specifications that need to be satisfied by the multi-agent system. With this solution methodology, a control law is synthesized that satisfies the given temporal logic task specification. Robotic experiments are provided which were performed on the Robotarium multi-robot testbed at Georgia Tech. Comment: To appear in the 57th IEEE Conference on Decision and Control, Miami Beach, FL, USA, 2018 |
| Databáze: | OpenAIRE |
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