Related papers: Control Synthesis of Nonlinear Sampled Switched Sy…
We propose an efficient symbolic control synthesis algorithm for equivariant continuous-time dynamical systems to satisfy reach-avoid specifications. The algorithm exploits dynamical symmetries to construct lean abstractions to avoid…
This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…
In this paper, we consider the application of optimal periodic control sequences to switched dynamical systems. The control sequence is obtained using a finite-horizon optimal method based on dynamic programming. We then consider Euler…
In this paper, we present a provably correct controller synthesis approach for switched stochastic control systems with metric temporal logic (MTL) specifications with provable probabilistic guarantees. We first present the stochastic…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
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…
This paper introduces a class of time-varying controllers for Euler-Lagrange systems such that the convergence occurs at an arbitrary finite time, independently of initial conditions, and free of chattering. The proposed controller is based…
In this paper, we design nonlinear state feedback controllers for discrete-time polynomial dynamical systems via the occupation measure approach. We propose the discrete-time controlled Liouville equation, and use it to formulate the…
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…
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…
Temporal synthesis is the automated design of a system that interacts with an environment, using the declarative specification of the system's behavior. A popular language for providing such a specification is Linear Temporal Logic, or LTL.…
This paper studies the controller synthesis problem for nonlinear control systems under linear temporal logic (LTL) specifications using zonotope techniques. A local-to-global control strategy is proposed for the desired specification…
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the needle variations of optimal control---as the basis for choosing each control response to the current state. A…
Discrete abstractions of continuous and hybrid systems have recently been the topic of great interest from both the control systems and the computer science communities, because they provide a sound mathematical framework for analysing and…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…
We show that if a linear infinite-dimensional system is exponentially stabilizable by compact feedback, it is also stabilizable by means of a sampled-data feedback that is fed through a globally Lipschitz nonlinearity, provided that the…
Generating versatile and appropriate synthetic speech requires control over the output expression separate from the spoken text. Important non-textual speech variation is seldom annotated, in which case output control must be learned in an…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
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…
This paper develops a novel control synthesis approach for a wide class of practical systems. The control action is derived by inserting a compensator device in the forward path of the system that is to be controlled. The compensator design…