Decentralized Control of Networks of Nondeterministic and Metric Finite State Systems

In this letter, we consider a network of nondeterministic and metric finite state systems and address a control problem where local controllers are designed for enforcing local specifications expressed in terms of regular languages up to desired accuracies. The control architecture considered is decentralized, that is each controller can only communicate with the corresponding plant. Necessary and sufficient conditions are found and control strategies derived. Checkable sufficient conditions are also proposed. An illustrative example is presented.