  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 two numerical examples.
