Related papers: Integrated symbolic control design for nonlinear s…
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…
This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal formula and introducing a generic (state-dependent) scaling…
This work presents a control-oriented identification scheme for efficient control design and stability analysis of nonlinear systems. Neural networks are used to identify a discrete-time nonlinear state-space model to approximate…
Predicate abstraction provides a powerful tool for verifying properties of infinite-state systems using a combination of a decision procedure for a subset of first-order logic and symbolic methods originally developed for finite-state model…
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…
An algorithm for constructing a control function that transfers a wide class of stationary nonlinear systems of ordinary differential equations from an initial state to a final state under certain control restrictions is proposed. The…
We present a stabilizing output-feedback controller for nonlinear finite and infinite-dimensional control systems governed by monotone operators that respects given input constraints. In particular, we show under a detectability-like…
This paper presents an algorithmic method to study structural properties of nonlinear control systems in dependence of parameters. The result consists of a description of parameter configurations which cause different control-theoretic…
The article gives an overview of the parameter numerical continuation methodology applied to setpoint control and parameter identification of nonlinear systems. The control problems for affine systems as well as general (nonaffine)…
Successfully synthesizing controllers for complex dynamical systems and specifications often requires leveraging domain knowledge as well as making difficult computational or mathematical tradeoffs. This paper presents a flexible and…
In this paper, we propose a symbolic control synthesis method for nonlinear sampled switched systems whose vector fields are one-sided Lipschitz. The main idea is to use an approximate model obtained from the forward Euler method to build a…
We study the asymptotic optimality of abstraction-based control synthesis algorithms. Specifically, we consider uncertain MDP (UMDP) abstraction, and investigate whether refinement leads to optimal results, i.e., an optimal controller and…
For a networked control system, we consider the problem of encoder and controller design. We study a discrete-time linear plant with a finite horizon performance cost, comprising of a quadratic function of the states and controls, and an…
The paper considers pseudo-differential boundary value control systems. The underlying operators form an algebra D with the help of which we are able to formulate typical boundary value control problems. The symbolic calculus gives tools to…
In this work, we derive conditions under which compositional abstractions of networks of stochastic hybrid systems can be constructed using the interconnection topology and joint dissipativity-type properties of subsystems and their…
Recently, a framework for controller design of sampled-data nonlinear systems via their approximate discrete-time models has been proposed in the literature. In this paper we develop novel tools that can be used within this framework and…
Abstraction-based techniques are an attractive approach for synthesizing correct-by-construction controllers to satisfy high-level temporal requirements. A main bottleneck for successful application of these techniques is the memory…
We propose two new optimistic planning algorithms for nonlinear hybrid-input systems, in which the input has both a continuous and a discrete component, and the discrete component must respect a dwell-time constraint. Both algorithms select…
The idea of symbolic controllers tries to bridge the gap between the top-down manual design of the controller architecture, as advocated in Brooks' subsumption architecture, and the bottom-up designer-free approach that is now standard…
In this paper we develop novel results on self triggering control of nonlinear systems, subject to perturbations and actuation delays. First, considering an unperturbed nonlinear system with bounded actuation delays, we provide conditions…