Related papers: Symbolic models for nonlinear control systems with…

This brief presents a simple derivation of the standard model-free control for the non-minimum phase systems. The robustness of the proposed method is studied in simulation considering the case of switched systems.

In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and the bounds on the rate of change of these dynamics. This…

Capturing uncertainty in models of complex dynamical systems is crucial to designing safe controllers. Stochastic noise causes aleatoric uncertainty, whereas imprecise knowledge of model parameters leads to epistemic uncertainty. Several…

We demonstrate the use of a new, control-oriented notion of finite state approximation for a particular class of hybrid systems. Specifically, we consider the problem of designing a stabilizing binary output feedback switching controller…

This paper presents a novel free-hand sketch synthesis approach addressing explicit abstraction control in class-conditional and photo-to-sketch synthesis. Abstraction is a vital aspect of sketches, as it defines the fundamental distinction…

We present a procedure for reducing the number of continuous states of discrete-time linear switched systems, such that the reduced system has the same behavior as the original system for a subset of switching sequences. The proposed method…

In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law to be implemented. The main advantage of the proposed…

This paper addresses the problem of computing controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. We develop new methods for models of systems subject to both…

This paper presents a control synthesis algorithm for dynamical systems to satisfy specifications given in a fragment of linear temporal logic. It is based on an abstraction-refinement scheme with nonuniform partitions of the state space. A…

In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…

Several abstract machines that operate on symbolic input alphabets have been proposed in the last decade, for example, symbolic automata or lattice automata. Applications of these types of automata include software security analysis and…

The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing…

We develop a new numerical method for approximating the infinite time reachable set of strictly stable linear control systems. By solving a linear program with a constraint that incorporates the system dynamics, we compute a polytope with…

This book explores an alternative to the current dominant paradigm where a discrete computer model is constructed as an attempt to approximate some continuum theory. We focus on a class of discrete computer models that are based on simple…

In this work, we perform safety analysis of linear dynamical systems with uncertainties. Instead of computing a conservative overapproximation of the reachable set, our approach involves computing a statistical approximate reachable set. As…

We consider the problem of automatically synthesizing a hybrid controller for non-linear dynamical systems which ensures that the closed-loop fulfills an arbitrary \emph{Linear Temporal Logic} specification. Moreover, the specification may…

In this paper, we focus on mitigating the computational complexity in abstraction-based controller synthesis for interconnected control systems. To do so, we provide a compositional framework for the construction of abstractions for…

Even if model-driven techniques have been enabled the centrality of the models in automated development processes, the majority of the industrial settings does not embrace such a paradigm due to the procedural complexity of managing model…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

In this paper, we propose a self-triggered formulation of Model Predictive Control for continuous-time nonlinear input-affine networked control systems. Our control method specifies not only when to execute control tasks but also provides a…