Event-triggered Feedback Control for Signal Temporal Logic Tasks

TL;DR

This paper introduces an event-triggered control framework for signal temporal logic tasks, reducing communication and computation in multi-agent systems while ensuring task satisfaction.

Contribution

It replaces continuous feedback control with an event-triggered approach based on state norms, improving efficiency in STL task control.

Findings

Event-triggered control reduces communication frequency.

Simulation results demonstrate effective STL task satisfaction.

Efficiency gains in multi-agent systems are achieved.

Abstract

A framework for the event-triggered control synthesis under signal temporal logic (STL) tasks is proposed. In our previous work, a continuous-time feedback control law was designed, using the prescribed performance control technique, to satisfy STL tasks. We replace this continuous-time feedback control law by an event-triggered controller. The event-triggering mechanism is based on a maximum triggering interval and on a norm bound on the difference between the value of the current state and the value of the state at the last triggering instance. Simulations of a multi-agent system quantitatively show the efficacy of using an event-triggered controller to reduce communication and computation efforts.