Related papers: Permissive Barrier Certificates for Safe Stabiliza…
This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the…
This paper presents an approach to systematically design sliding mode control and manifold to stabilize nonlinear uncertain systems. The objective is also accomplished to enlarge the inner bound of region of attraction for closed-loop…
Tolerance estimation problems are prevailing in engineering applications. For example, in modern robotics, it remains challenging to efficiently estimate joint tolerance, \ie the maximal allowable deviation from a reference robot state such…
For many nonlinear control systems, the chosen equilibrium determines both the steady-state efficiency and the dynamic performance. This paper addresses the issue of obtaining an optimal equilibrium in terms of some steady-state operation…
We consider a class of partially observable Markov decision processes (POMDPs) with uncertain transition and/or observation probabilities. The uncertainty takes the form of probability intervals. Such uncertain POMDPs can be used, for…
The joint spectral radius (JSR) of a set of matrices characterizes the maximal asymptotic growth rate of an infinite product of matrices of the set. This quantity appears in a number of applications including the stability of switched and…
We show that the existence of a strictly compatible pair of control Lyapunov and control barrier functions is equivalent to the existence of a single smooth Lyapunov function that certifies both asymptotic stability and safety. This…
We present a novel technique for online safety verification of autonomous systems, which performs reachability analysis efficiently for both bounded and unbounded horizons by employing neural barrier certificates. Our approach uses barrier…
Finding a controlled-invariant set for a system with state and control constraints is crucial for safety-critical applications. However, existing methods often produce overly conservative solutions. This paper presents a method for…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
Security assessment of large-scale, strongly nonlinear power grids containing thousands to millions of interacting components is a computationally expensive task. Targeting at reducing the computational cost, this paper introduces a…
We show that existence of a global polynomial Lyapunov function for a homogeneous polynomial vector field or a planar polynomial vector field (under a mild condition) implies existence of a polynomial Lyapunov function that is a sum of…
An important tool for proving safety of dynamical systems is the notion of a barrier certificate. In this paper we prove that every robustly safe ordinary differential equation has a barrier certificate. Moreover, we show a construction of…
This paper introduces a new method for proving global stability of fluid flows through the construction of Lyapunov functionals. For finite dimensional approximations of fluid systems, we show how one can exploit recently developed…
In a recent paper we have shown how to learn controllers for unknown linear systems using finite-sized noisy data by solving linear matrix inequalities. In this note we extend this approach to deal with unknown nonlinear polynomial systems…
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing controller. In particular, the resulting…
Certifying the stability of dynamical systems is a central and challenging task in control theory and systems analysis. To tackle these problems we present an algorithmic approach to finding polynomial Lyapunov functions. Our method relies…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
A barrier certificate often serves as an inductive invariant that isolates an unsafe region from the reachable set of states, and hence is widely used in proving safety of hybrid systems possibly over an infinite time horizon. We present a…
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…