Related papers: Synthesis for Constrained Nonlinear Systems using …
This paper presents a compositional approach to specification-guided abstraction refinement for control synthesis of a nonlinear system associated with a method to over-approximate its reachable sets. Given an initial coarse partition of…
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…
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 consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
We consider a nonlinear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
Deadline misses are more common in real-world systems than one may expect. The weakly-hard task model has become a standard abstraction to describe and analyze how often these misses occur, and has been especially used in control…
Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches…
We propose a convex controller synthesis framework for a large class of constrained linear systems, including those described by (deterministic and stochastic) partial differential equations and integral equations, commonly used in fluid…
This paper addresses the problem of control synthesis for nonlinear optimal control problems in the presence of state and input constraints. The presented approach relies upon transforming the given problem into an infinite-dimensional…
This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…
The controllability problem for nonlinear control systems with one-dimensional control of the form $ dx/dt=a(x)+B(x)\beta(x,u)$ is considered, where $a(x)$ is an $n$-dimensional vector function, $B(x)$ is an $(n\times m)$-matrix, and…
General purpose correct-by-construction synthesis methods are limited to systems with low dimensionality or simple specifications. In this work we consider highly symmetrical counting problems and exploit the symmetry to synthesize provably…
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…
This paper proposes a method to compute finite abstractions that can be used for synthesizing robust hybrid control strategies for nonlinear systems. Most existing methods for computing finite abstractions utilize some global, analytical…
Formal control synthesis approaches over stochastic systems have received significant attention in the past few years, in view of their ability to provide provably correct controllers for complex logical specifications in an automated…
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…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered.…