Related papers: Synthesis for Constrained Nonlinear Systems using …
The article outlines the methodology of structural and parametric synthesis of neural network controllers for controlling objects with limiters under incomplete information about the controlled object. Artificial neural networks are used to…
Abstraction of a continuous-space model into a finite state and input dynamical model is a key step in formal controller synthesis tools. To date, these software tools have been limited to systems of modest size (typically $\leq$ 6…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. Moreover, we propose nonlinear discrete-time control barrier functions…
The synthesis of compliant mechanisms (CMs) is frequently achieved through topology optimization. Many synthesis approaches simplify implementation by assuming small distortions, but this limits their practical application since CMs…
In this paper we propose a data-driven output-feedback controller synthesis method for discrete-time linear time-invariant systems in a specific autoregressive form. The synthesis goal is either to achieve dissipativity with respect to a…
We study the problem of automatically computing the controllable region of a Linear Hybrid Automaton, with respect to a safety objective. We describe the techniques that are needed to effectively and efficiently implement a…
This note presents an embedded automatic control strategy for a low consumption vehicle equipped with an "on/off" engine. The main difficulties are the hybrid nature of the dynamics, the non smoothness of the dynamics of each mode, the…
Reliable and secure operation of power systems becomes increasingly challenging as the share of volatile generation rises, leading to largely changing dynamics. Typically, the architecture and structure of controllers in power systems, such…
To address deviations from expected performance in stochastic systems, we propose a risk-sensitive control synthesis method to minimize certain risk measures over the limiting stationary distribution. Specifically, we extend Worst-case…
This paper presents an overview of a design methodology for the optimal synthesis of hybrid mechanisms. Hybrid mechanisms have been defined as multi-degree of freedom systems where the input motions are supplied by different motor types. In…
Structured output feedback controller synthesis is an exciting recent concept in modern control design, which bridges between theory and practice in so far as it allows for the first time to apply sophisticated mathematical design paradigms…
We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a mapping that is invariant under optimal control, and 2) driving…
Distributed controller synthesis offers scalable and privacy-preserving control design, but typical state-of-the-art approaches either assume white-box models or resort to centralized synthesis. In this paper, we combine partially known…
The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…
This paper studies the finite-horizon robust optimal control of constrained linear systems subject to model mismatch and additive stochastic disturbances. Utilizing the system level synthesis (SLS) parameterization, we propose a novel SLS…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
This paper studies the synthesis of controllers for discrete-time, continuous state stochastic systems subject to omega-regular specifications using finite-state abstractions. We present a synthesis algorithm for minimizing or maximizing…
Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability and information privacy have become increasingly critical.…