Compositional Synthesis of Signal Temporal Logic Tasks via Assume-Guarantee Contracts

In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems. By leveraging the idea of funnel-based control, we show that a fragment of STL specifications can be formulated as assume-guarantee contracts. A new concept of contract satisfaction is then defined to establish our compositionality result, which allows us to guarantee the satisfaction of a global contract by the interconnected system when all subsystems satisfy their local contracts. Based on this compositional framework, we then design closed-form continuous-time feedback controllers to enforce local contracts over subsystems in a decentralized manner. Finally, we demonstrate the effectiveness of our results on a numerical example.