Related papers: Nonuniform abstractions, refinement and controller…
This paper proposes a method for abstracting control systems by timed game automata, and is aimed at obtaining automatic controller synthesis. The proposed abstraction is based on partitioning the state space of a control system using…
Controller synthesis techniques based on symbolic abstractions appeal by producing correct-by-design controllers, under intricate behavioural constraints. Yet, being relations between abstract states and inputs, such controllers are immense…
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
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…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
In this paper, we develop a compositional approach to abstraction and safety synthesis for a general class of discrete time nonlinear systems. Our approach makes it possible to define a symbolic abstraction by composing a set of symbolic…
While many studies and tools target the basic stabilizability problem of networked control systems (NCS), nowadays modern systems require more sophisticated objectives such as those expressed as formulae in linear temporal logic or as…
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 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…
This paper addresses the problem of control synthesis for nonlinear optimal control problems in the presence of state and input constraints. The presented approach relies upon transforming the given problem into an infinite-dimensional…
This manuscript discusses a scalable controller synthesis method for networked systems with a large number of identical subsystems based on the H-infinity control framework. The dynamics of the individual subsystems are described by…
Many correct-by-construction control synthesis methods suffer from the curse of dimensionality. Motivated by this challenge, we seek to reduce a correct-by-construction control synthesis problem to subproblems of more modest dimension. As a…
This paper introduces a novel method for synthesizing digital circuits derived from Binary Decision Diagrams (BDDs) that can yield to reduction in power dissipation. The power reduction is achieved by decreasing the switching activity in a…
Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
Recently, there has been an increasing interest in the formal analysis and design of control systems. In this area, in order to reduce the complexity and scale of control systems, finite abstractions of control systems are introduced and…
This paper develops a robust control synthesis method for uncertain linear systems with input saturation in the framework of integral quadratic constraints (IQCs). The system is reformulated as a linear fractional representation (LFR) that…
This paper considers the problem of decentralized analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system comprised of linear subsystems interconnected in an…
Automatic synthesis of hardware components from declarative specifications is an ambitious endeavor in computer aided design. Existing synthesis algorithms are often implemented with Binary Decision Diagrams (BDDs), inheriting their…