Related papers: Control of nonlinear switched systems based on val…
Partial observability and controllability are two well-known issues in test-case synthesis for interactive systems. We address the problem of partial control in the synthesis of test cases from timed-automata specifications. Building on the…
This paper is concerned with the design of an augmented state feedback controller for finite-dimensional linear systems with nonlinear observation dynamics. Most of the theoretical results in the area of (optimal) feedback design are based…
This note aims to provide a systematic investigation of direct data-driven control, enriching the existing literature not by adding another isolated result, but rather by offering a unifying, versatile, and broad framework that enables the…
This paper addresses the problem of robust and optimal control for the class of nonlinear quadratic systems subject to norm-bounded parametric uncertainties and disturbances, and in presence of some amplitude constraints on the control…
Given a family of systems, identifying stabilizing switching signals in terms of infinite walks constructed by concatenating cycles on the underlying directed graph of a switched system that satisfy certain conditions, is a well-known…
We establish a novel approach to probing spatially resolved multi-time correlation functions of interacting many-body systems, with scalable experimental overhead. Specifically, designing nonlinear measurement protocols for multidimensional…
In this paper, we considered a design method of non-linear state feedback controller for input-affine non-linear system taking data losses into account. When data is lost in control system, control input is fixed to constant value or to the…
This paper develops a semidefinite-programming-based method for online feedback control of nonlinear systems using a state-dependent representation. We formulate sequences of time-varying SDPs whose optimal solutions jointly yield a…
Practitioners often rely on compute-intensive domain randomization to ensure reinforcement learning policies trained in simulation can robustly transfer to the real world. Due to unmodeled nonlinearities in the real system, however, even…
The paper investigates nonlinear control laws obtained from linear one by two types of substitutions using odd functions. The first substitution consists in passing each component of the state vector through a nonlinear function, the second…
Simulink is widely used in industrial design processes to model increasingly complex embedded control systems. Thus, their formal analysis is highly desirable. However, this comes with two major challenges: First, Simulink models often…
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…
We present a procedure for reducing the number of continuous states of discrete-time linear switched systems, such that the reduced system has the same behavior as the original system for a subset of switching sequences. The proposed method…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
A high-gain observer is used for a class of feedback linearisable nonlinear systems to synthesize safety-preserving controllers over the observer output. A bound on the distance between trajectories under state and output feedback is…
We consider here systems with piecewise linear dynamics that are periodically sampled with a given period {\tau} . At each sampling time, the mode of the system, i.e., the parameters of the linear dynamics, can be switched, according to a…
Various controllability conditions have been obtained by researchers for heterogeneous networked systems with linear dynamics. However, the literature for nonlinear, heterogeneous networked systems is comparatively less. In this paper we…
The paper describes a novel method of sampled-data in space (spatial variable) control of scalar semilinear systems of parabolic and hyperbolic type with unknown parameters and distributed disturbances. A finite set of sampled-data in the…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…