Related papers: Finite Horizon Backward Reachability Analysis and …
This paper focuses on the controller synthesis for unknown, nonlinear systems while ensuring safety constraints. Our approach consists of two steps, a learning step that uses Gaussian processes and a controller synthesis step that is based…
As we move towards safety-critical cyber-physical systems that operate in non-stationary and uncertain environments, it becomes crucial to close the gap between classical optimal control algorithms and adaptive learning-based methods. In…
We address the problem of synthesizing reactive controllers for cyber-physical systems subject to Signal Temporal Logic (STL) specifications in the presence of adversarial inputs. Given a finite horizon, we define a reactive hierarchy of…
This paper aims to synthesize a reachability controller for an unknown dynamical system. We first learn the unknown system using Gaussian processes and the (probabilistic) guarantee on the learned model. Then we use the funnel-based…
System level synthesis is a promising approach that formulates structured optimal controller synthesis problems as convex problems. This work solves the distributed linear-quadratic regulator problem under communication constraints directly…
Model predictive control allows solving complex control tasks with control and state constraints. However, an optimal control problem must be solved in real-time to predict the future system behavior, which is hardly possible on embedded…
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…
We investigate the control synthesis problem for continuous-time time-varying nonlinear systems with disturbance under a class of multiple reach-avoid (MRA) tasks. Specifically, the MRA task requires the system to reach a series of target…
The paper considers the controller synthesis problem for general MIMO systems with unknown dynamics, aiming to fulfill the temporal reach-avoid-stay task, where the unsafe regions are time-dependent, and the target must be reached within a…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…
In this article, we consider the problem of synthesizing switching controllers for temporal properties through the composition of simple primitive reach-while-stay (RWS) properties. Reach-while-stay properties specify that the system states…
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…
To address deviations from expected performance in stochastic systems, we propose a risk-sensitive control synthesis method to minimize certain risk measures over the limiting stationary distribution. Specifically, we extend Worst-case…
A reset controller plays a crucial role in designing hybrid systems. It restricts the initial set and redefines the reset map associated with discrete transitions, in order to guarantee the system to achieve its objective. Reset controller…
System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback…
An algorithm for constructing a control function that transfers a wide class of stationary nonlinear systems of ordinary differential equations from an initial state to a final state under certain control restrictions is proposed. The…
We propose a counterexample-guided inductive synthesis framework for the formal synthesis of closed-form sampled-data controllers for nonlinear systems to meet STL specifications over finite-time trajectories. Rather than stating the STL…
Optimal controller synthesis is a bilinear problem and hence difficult to solve in a computationally efficient manner. We are able to resolve this bilinearity for systems with delay by first convexifying the problem in infinite-dimensions -…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
This paper proposes a method to compute finite abstractions that can be used for synthesizing robust hybrid control strategies for nonlinear systems. Most existing methods for computing finite abstractions utilize some global, analytical…