Related papers: Nonuniform abstractions, refinement and controller…
Analysis and design of filtered-x adaptive algorithms are conventionally done by assuming that the transfer function in the secondary path is a discrete-time system. However, in real systems such as active noise control, the secondary path…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
This paper proposes a novel approach to design reduced-order distributed consensus controllers for multi-agent systems (MASs) with identical linear dynamics of agents. A new model namely edge dynamics representing the differences on agents'…
This paper presents a novel approach to synthesize dual controllers for unknown linear time-invariant systems with the tasks of optimizing a quadratic cost while reducing the uncertainty. To this end, a synthesis problem is defined where…
Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently synthesized offline, easily implementable online, and…
This paper presents an algorithm to apply nonlinear control design approaches in the case of stochastic systems with partial state observation. Deterministic nonlinear control approaches are formulated under the assumption of full state…
Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches…
In this paper, we consider the computation of controlled invariant sets (CIS) of discrete-time nonlinear control affine systems. We propose an iterative refinement procedure based on polytopic inclusion functions, which is able to…
We consider a nonlinear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced…
We present a new numerical algorithm for the solution of coupled collisional and collisionless systems, based on the block structured adaptive mesh and time refinement strategy (AMR). We describe the issues associated with the…
We introduce a novel approach to automatically synthesize a mathematical representation of the control algorithms implemented in industrial cyber-physical systems (CPS), given the embedded system binary. The output model can be used by…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
We present an algorithm of control synthesis for nonlinear switched systems, based on an existing procedure of state-space bisection and made available for nonlinear systems with the help of validated simulation. The use of validated…
This work presents a computationally efficient approach to data-driven robust contracting controller synthesis for polynomial control-affine systems based on a sum-of-squares program. In particular, we consider the case in which a system…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
The paper is devoted to the study of a new class of optimal control problems for nonsmooth dynamical systems governed by nonconvex discontinuous differential inclusions of the sweeping type with involving variable time into optimization. We…
This paper is concerned with a compositional approach for constructing both infinite (reduced-order models) and finite abstractions (a.k.a. finite Markov decision processes (MDPs)) of large-scale interconnected discrete-time stochastic…
This paper presents a new robust data-driven predictive control scheme for unknown linear time-invariant systems by using input-state-output or input-output data based on whether the state is measurable. To remove the need for the…
Simulation-based compositional abstraction effectively mitigates state space explosion in model checking, particularly for timed systems. However, existing approaches do not support broadcast synchronization, an important mechanism for…
The discrete-time robust repetitive control (RC, or repetitive controller, also designated RC) problem for nonlinear systems is both challenging and practical. This paper proposes a discrete-time output-feedback RC design for a class of…