Distributed Robust Control Synthesis for Safety and Fixed-Time Stability in Multi-Agent Systems
Kunal Garg, Dimitra Panagou · arXiv (Cornell University) · 2020
This paper presents a control synthesis approach for multi-agent systems modeled as a general class of nonlinear, control-affine dynamics under spatiotemporal constraints. We consider the problem of designing distributed controllers such that each agent reaches their respective goal set within a given fixed time, while always remaining in their respective safe set, which also encodes the maintenance of a safe distance from other agents. We assume that each agent can measure the states of any neighbor agent in their limited sensing radius with some bounded error. In the presence of this uncertainty, we use robust CBFs to encode inter-agent safety, while temporal specifications are encoded via Fixed-Time CLFs. We formulate a QP for each agent to compute its control input that fulfills the spatiotemporal specifications, and discuss the feasibility of the QP in the presence of control input constraints.