Related papers: Optimal Scheduling for Linear-Rate Multi-Mode Syst…
This paper studies optimal time-bounded control in multi-mode systems with discrete costs. Multi-mode systems are an important subclass of linear hybrid systems, in which there are no guards on transitions and all invariants are global.…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…
Bounded-rate multi-mode systems are hybrid systems that can switch among a finite set of modes. Its dynamics is specified by a finite number of real-valued variables with mode-dependent rates that can vary within given bounded sets. Given…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
We consider the design of an optimal collision-free sensor schedule for a number of sensors which monitor different linear dynamical systems correspondingly. At each time, only one of all the sensors can send its local estimate to the…
In this paper, we address the scheduling problem of multi-mode real-time systems upon uniform multiprocessor platforms. We propose two transition protocols, specified together with their schedulability test, and provide the reader with two…
Bounded-rate multi-mode systems (BMMS) are hybrid systems that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent rates that can vary within given…
Multi-mode real-time systems are those which support applications with different modes of operation, where each mode is characterized by a specific set of tasks. At run-time, such systems can, at any time, be requested to switch from its…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expressed using syntactically co-safe Linear Temporal Logic…
Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
Combining efficient and safe control for safety-critical systems is challenging. Robust methods may be overly conservative, whereas probabilistic controllers require a trade-off between efficiency and safety. In this work, we propose a…
In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new cost function resulted in reduced unwanted disturbances…
We study the adaptive control of an unknown linear system with a quadratic cost function subject to safety constraints on both the states and actions. The challenges of this problem arise from the tension among safety, exploration,…
This paper solves the robust hybrid output regulation problem for arbitrary uncertain hybrid MIMO linear systems with periodic jumps without the restrictive assumptions used in all previous works on the subject. A necessary condition for…
While artificial-intelligence-based methods suffer from lack of transparency, rule-based methods dominate in safety-critical systems. Yet, the latter cannot compete with the first ones in robustness to multiple requirements, for instance,…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system,…
We present a method for optimal control with respect to a linear cost function for positive linear systems with coupled input constraints. We show that the optimal cost function and resulting sparse state feedback for these systems can be…