  We develop a novel decentralized control method for a network of perturbed
linear systems with dynamical couplings subject to Signal Temporal Logic (STL)
specifications. We first transform the STL requirements into set containment
problems and then we develop controllers to solve these problems. Our approach
is based on treating the couplings between subsystems as disturbances, which
are bounded sets that the subsystems negotiate in the form of parametric
assume-guarantee contracts. The set containment requirements and parameterized
contracts are added to the subsystems' constraints. We introduce a centralized
optimization problem to derive the contracts, reachability tubes, and
decentralized closed-loop control laws. We show that, when the STL formula is
separable with respect to the subsystems, the centralized optimization problem
can be solved in a distributed way, which scales to large systems. We present
formal theoretical guarantees on robustness of STL satisfaction. The
effectiveness of the proposed method is demonstrated via a power network case
study.

Systems and Control;Systems and Control