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Inner-approximate reachability analysis involves calculating subsets of reachable sets, known as inner-approximations. This analysis is crucial in the fields of dynamic systems analysis and control theory as it provides a reliable…
This contribution proposes a recursive, computationally efficient, ready-to-use, online method for the ellipsoidal state characterization for linear discrete-time models with additive unknown disturbances vectors (bounded by known possibly…
One often wishes for the ability to formally analyze large-scale systems---typically, however, one can either formally analyze a rather small system or informally analyze a large-scale system. This work tries to further close this…
This paper studies Gramian-based reachability metrics for bilinear control systems. In the context of complex networks, bilinear systems capture scenarios where an actuator not only can affect the state of a node but also interconnections…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
In this work, new theoretical results on functional type a posteriori estimates for elliptic optimal control problems with control constraints are presented. More precisely, we derive new, sharp, guaranteed and fully computable lower bounds…
Pushing tasks performed by aerial manipulators can be used for contact-based industrial inspections. Underactuated aerial vehicles are widely employed in aerial manipulation due to their widespread availability and relatively low cost.…
In this paper, we consider the problem of computing the nearest uncontrollable (C-uncontrollable) system to a given higher order system. The distance to the nearest uncontrollable system, also termed as the radius of controllability, is a…
We consider the problem of estimating the state of a linear Gaussian system in the presence of integrity attacks. The attacker can compromise $p$ out of $m$ sensors, the set of which is fixed and unknown to the system operator, and…
We propose control and communication strategies for nonlinear networked control systems subject to state and input constraints. The objective is to steer the state of the system towards a prescribed target set in finite time…
We present an approach for accelerating nonlinear model predictive control. If the current optimal input signal is saturated, also the optimal signals in subsequent time steps often are. We propose to use the open-loop optimal input signals…
Selecting a few available actuators to ensure the controllability of a linear system is a fundamental problem in control theory. Previous works either focus on optimal performance, simplifying the controllability issue, or make the system…
Providing finite-time probabilistic safety and reach-avoid guarantees is crucial for safety-critical stochastic systems. Existing state-of-the-art barrier methods often rely on a restrictive boundedness assumption for auxiliary functions,…
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual…
In this work, we study the problem of verification of systems in the presence of attackers using bounded model checking. Given a system and a set of security requirements, we present a methodology to generate and classify attackers, mapping…
We consider the reachability problem for timed automata. A standard solution to this problem involves computing a search tree whose nodes are abstractions of zones. These abstractions preserve underlying simulation relations on the state…
Digital control has become increasingly prevalent in modern systems, making continuous-time plants controlled by discrete-time (digital) controllers ubiquitous and crucial across industries, including aerospace, automotive, and…
Linear matrix inequalities (LMIs) are ubiquitous in modern control theory, as well as in a variety of other fields in science and engineering. Their analytic centers, i.e. the maximum determinant elements of the feasible set spanned by…
This paper presents a synthesis approach aiming to guarantee a minimum upper-bound for the time taken to reach a target set of non-zero measure that encompasses the origin, while taking into account uncertainties and input and state…
This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…