This paper considers the problem of controller synthesis of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional framework based on continuous-time assume-guarantee contracts 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 assume-guarantee contracts by leveraging the idea of funnel-based 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 multi-agent 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 the global task satisfaction based on the compositionality result. Finally, the effectiveness of our results is demonstrated by two numerical examples.

翻译：本文研究了大规模多智能体系统中信号时序逻辑( STL )规范的控制器综合问题，其中智能体之间存在动态耦合关系并需执行协作任务。本文提出了一种基于连续时间假设-保证契约的组合框架，将复杂的大规模综合问题分解为若干可处理规模的子问题。首先，利用漏斗控制思想展示了如何将协作式STL任务表述为假设-保证契约。通过引入契约概念建立组合性结果，使得当所有智能体满足其局部契约时，可保证多智能体系统满足全局契约。然后，设计了闭环连续时间反馈控制器以分布式方式强制执行智能体的局部契约，进而基于组合性结果保证全局任务的满足。最后，通过两个数值算例验证了所提方法的有效性。