Related papers: Robust Abstractions for Control Synthesis: Robustn…
Designing controllers to satisfy temporal requirements has proven to be challenging for dynamical systems that are affected by uncertainty. This is mainly due to the states evolving in a continuous uncountable space, the stochastic…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
The most prominent formal criterion for secure compilation is full abstraction, the preservation and reflection of contextual equivalence. Recent work introduced robust compilation, defined as the preservation of robust satisfaction of…
We consider abstraction-based design of output-feedback controllers for non-linear dynamical systems against specifications over state-based predicates in linear-time temporal logic (LTL). In this context, our contribution is two-fold: (I)…
The abstraction of dynamical systems is a powerful tool that enables the design of feedback controllers using a correct-by-design framework. We investigate a novel scheme to obtain data-driven abstractions of discrete-time stochastic…
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…
A symmetry of a dynamical system is a map that transforms one trajectory to another trajectory. We introduce a new type of abstraction for hybrid automata based on symmetries. The abstraction combines different modes in a concrete automaton…
Users of program analyses expect that results change predictably in response to changes in their programs, but many analyses fail to provide such robustness. This paper introduces a theoretical framework that provides a unified language to…
We generalize the system level synthesis framework to systems defined by bounded causal linear operators, and use this parameterization to make connections between robust system level synthesis and classical results from the robust control…
The formal analysis and design of control systems is one of recent trends in control theory. In this area, in order to reduce the complexity and scale of control systems, finite abstractions of control systems are introduced and explored.…
This paper studies formal synthesis of controllers for continuous-space systems with unknown dynamics to satisfy requirements expressed as linear temporal logic formulas. Formal abstraction-based synthesis schemes rely on a precise…
Robustness guarantees are important properties to be looked for during control design. They ensure stability of closed-loop systems in face of uncertainties, unmodeled effects and bounded disturbances. While the theory on robust stability…
In this work, we derive conditions under which compositional abstractions of networks of stochastic hybrid systems can be constructed using the interconnection topology and joint dissipativity-type properties of subsystems and their…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
Abstraction of a continuous-space model into a finite state and input dynamical model is a key step in formal controller synthesis tools. To date, these software tools have been limited to systems of modest size (typically $\leq$ 6…
We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifications. We first create a low-dimensional continuous…
As control systems grow in complexity, abstraction-based methods have become essential for designing controllers with formal guarantees. However, a key limitation of these methods is their reliance on discrete-time models, typically…
A desirable property of control systems is to be robust to inputs, that is small perturbations of the inputs of a system will cause only small perturbations on its outputs. But it is not clear whether this property is maintained at the…
We present a lazy version of multi-layered abstraction-based controller synthesis (ABCS) for continuous-time nonlinear dynamical systems against safety specifications. State-of-the-art multi-layered ABCS uses pre-computed finite-state…