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arXiv · 2602.05586

Observer-based Control of Multi-agent Systems under STL Specifications

Tommaso Zaccherini·Siyuan Liu·Dimos V. Dimarogonas
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Abstract

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.

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Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas. 2026-02-05. Observer-based Control of Multi-agent Systems under STL Specifications. https://arxiv.org/abs/2602.05586

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