Related papers: Synthesizing Switching Controllers for Hybrid Syst…
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…
In this paper, we present a novel approach to synthesize invariant clusters for polynomial programs. An invariant cluster is a set of program invariants that share a common structure, which could, for example, be used to save the needs for…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
The template-based method is one of the most successful approaches to algebraic invariant synthesis. In this method, an algorithm designates a template polynomial p over program variables, generates constraints for p=0 to be an invariant,…
Switching controllers play a pivotal role in directing hybrid systems (HSs) towards the desired objective, embodying a ``correct-by-construction'' approach to HS design. Identifying these objectives is thus crucial for the synthesis of…
This paper proposes a framework for automatic formal controller synthesis for general hybrid systems with a subset of safety and reachability specifications. The framework uses genetic programming to automatically co-synthesize controllers…
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.…
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…
In this paper, we consider the problem of synthesizing low-complexity controllers for incrementally stable switched systems. For that purpose, we establish a new approximation result for the computation of symbolic models that are…
Template abstract domains allow to express more interesting properties than classical abstract domains. However, template generation is a challenging problem when one uses template abstract domains for program analysis. In this paper, we…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
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…
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…
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.…
Recent work has proposed a promising approach to improving scalability of program synthesis by allowing the user to supply a syntactic template that constrains the space of potential programs. Unfortunately, creating templates often…
We study possibilities for automated invariant generation in parametric systems. We use (a refinement of) an algorithm for symbol elimination in theory extensions to devise a method for iteratively strengthening certain classes of safety…
This paper is the confluence of two streams of ideas in the literature on generating numerical invariants, namely: (1) template-based methods, and (2) recurrence-based methods. A template-based method begins with a template that contains…
In this paper, we propose an approach to automatically compute invariant clusters for semialgebraic hybrid systems. An invariant cluster for an ordinary differential equation (ODE) is a multivariate polynomial invariant g(u,x)=0, parametric…
In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a…
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…