Related papers: Synthesis for Constrained Nonlinear Systems using …
Optimal control for switch-based dynamical systems is a challenging problem in the process control literature. In this study, we model these systems as hybrid dynamical systems with finite number of unknown switching points and reformulate…
This paper studies formal synthesis of controllers for continuous-space systems with unknown dynamics to satisfy requirements expressed as linear temporal logic formulas. Formal abstraction-based synthesis schemes rely on a precise…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…
The essential step of abstraction-based control synthesis for nonlinear systems to satisfy a given specification is to obtain a finite-state abstraction of the original systems. The complexity of the abstraction is usually the dominating…
This paper addresses data-driven control of continuous-time systems. We develop a framework based on synthesis operators associated with input and state trajectories. A key advantage of the proposed method is that it does not require the…
In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…
This paper introduces a novel method to approximate limit cycles of nonlinear ODEs by use of switching affine dynamics in order to ease data-based modeling and analysis. Previous approaches to approximating limit cycles by switching systems…
Hybrid systems are a compact and natural mechanism with which to address problems in robotics. This work introduces an approach to learning hybrid systems from demonstrations, with an emphasis on extracting models that are explicitly…
We consider the problem of synthesizing a dynamic output-feedback controller for a linear system, using solely input-output data corrupted by measurement noise. To handle input-output data, an auxiliary representation of the original system…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
The problem of robust controller synthesis for plants affected by structured uncertainty, captured by integral quadratic constraints, is discussed. The solution is optimized towards a worst-case white noise rejection specification, which is…
We propose a new method for controlled system synthesis on non-deterministic automata, which includes the synthesis for deadlock-freeness, as well as invariant and reachability expressions. Our technique restricts the behavior of a…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
We present a three-step method to perform system identification and optimal control of non-linear systems. Our approach is mainly data driven and does not require active excitation of the system to perform system identification. In…
Modern data-driven control applications call for flexible nonlinear models that are amenable to principled controller synthesis and realtime feedback. Many nonlinear dynamical systems of interest are control affine. We propose two novel…
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from…
This paper considers the problem of decentralized analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system comprised of linear subsystems interconnected in an…
The current limitation in the synthesis of distributed $\mathscr{H}_2$ controllers for linear interconnected systems is scalability due to non-convex or unstructured synthesis conditions. In this paper we develop convex and structured…
In this work, we propose an abstraction and refinement methodology for the controller synthesis of discrete-time stochastic systems to enforce complex logical properties expressed by deterministic finite automata (a.k.a. DFA). Our proposed…