Platoons Coordination Based on Decentralized Higher Order BarrierCertificates

This paper presents control strategies based ontime-varying convergent higher order control barrier functionsfor the coordination of networks of platoons. This networkcould be modelled by a class of leader-follower multi-agentsystems, where the leaders have knowledge on the associatedtasks and control the performance of their platoon involvedvehicles. The followers are not aware of the tasks, and do nothave any control authority to reach them. They follow their platoonleader commands for the task satisfaction. Signal temporallogic (STL) tasks are defined for the platoons coordination.Robust solutions for the task satisfaction, based on the leader’saccessibility to the follower vehicles’ states are suggested. Inaddition, using the notion of higher order barrier functions,decentralized barrier certificates for each vehicle evolving in aformation dynamic structure are proposed. Our approach findssolutions to guarantee the satisfaction of STL tasks independentof the agents’ initial conditions. Accepted by the 31st Mediterranean Conference on Control and Automation, Limassol, Cyprus, 26-29 June 2023QC 20230620