Observer-based Control of Multi-agent Systems under STL Specifications
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.
Cite
@article{arxiv.2602.05586,
title = {Observer-based Control of Multi-agent Systems under STL Specifications},
author = {Tommaso Zaccherini and Siyuan Liu and Dimos V. Dimarogonas},
journal= {arXiv preprint arXiv:2602.05586},
year = {2026}
}
Comments
This paper has been submitted for consideration to the 23rd IFAC World Congress