Related papers: Low-Complexity Quantized Switching Controllers usi…
Control systems are usually modeled by differential equations describing how physical phenomena can be influenced by certain control parameters or inputs. Although these models are very powerful when dealing with physical phenomena, they…
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…
Symbolic models are abstract descriptions of continuous systems in which symbols represent aggregates of continuous states. In the last few years there has been a growing interest in the use of symbolic models as a tool for mitigating…
This paper studies symbolic abstractions for nonlinear control systems using logarithmic quantization. With a logarithmic quantizer, we approximate the state and input sets, and then construct a novel discrete abstraction for nonlinear…
Symbolic models have recently spurred the interest of the research community because they offer a correct-by-design approach to the control of embedded and cyber-physical systems. In this paper we address construction of symbolic models for…
We extend a template-based approach for synthesizing switching controllers for semi-algebraic hybrid systems, in which all expressions are polynomials. This is achieved by combining a QE (quantifier elimination)-based method for generating…
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…
We construct compositional continuous approximations for an interconnection of infinitely many discrete-time switched systems. An approximation (known as abstraction) is itself a continuous-space system, which can be used as a replacement…
In this paper, we investigate novel self-triggered controllers for nonlinear control systems with reachability and safety specifications. To synthesize the self-triggered controller, we leverage the notion of symbolic models, or…
Given a multi-modal dynamical system, optimal switching logic synthesis involves generating the conditions for switching between the system modes such that the resulting hybrid system satisfies a quantitative specification. We formalize and…
Software implementations of controllers for physical systems are at the core of many embedded systems. The design of controllers uses the theory of dynamical systems to construct a mathematical control law that ensures that the controlled…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
This paper studies the construction of dynamic symbolic abstractions for nonlinear control systems via dynamic quantization. Since computational complexity is a fundamental problem in the use of discrete abstractions, a dynamic quantizer…
Many cyber-physical systems can naturally be formulated as switched systems with constrained switching. This includes systems where one of the signals in the feedback loop may be lost. Possible sources for losses are shared or unreliable…
We consider the problem of approximating discrete-time plants with finite-valued sensors and actu- ators by deterministic finite memory systems for the purpose of certified-by-design controller synthesis. Building on ideas from robust…
We consider the problem of coordinating a collection of switched subsystems under both local and global constraints for safe operation of the system. Although an invariant set can be leveraged to construct a safety-guaranteed controller for…
Q-learning is widely recognized as an effective approach for synthesizing controllers to achieve specific goals. However, handling challenges posed by continuous state-action spaces remains an ongoing research focus. This paper presents a…
This paper proposes a method to synthesise controllers for cyber-physical systems such that the controlled systems satisfy specifications given as linear temporal logic formulas. The focus is on systems with disturbance, where future states…
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…
This paper studies the problem of stabilizing a continuous-time switched linear system by quantized output feedback. We assume that the quantized outputs and the switching signal are available to the controller at all time. We develop an…