Related papers: Finite Horizon Backward Reachability Analysis and …
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…
The synthesis problem of static output feedback controllers within the anistropic-norm setup is revisited. A tractable synthesis approach involving iterations over a convex optimization problem is suggested, similarly to existing results…
In this paper we propose a data-driven output-feedback controller synthesis method for discrete-time linear time-invariant systems in a specific autoregressive form. The synthesis goal is either to achieve dissipativity with respect to a…
The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where computing control inputs is typically cast as a constrained…
We extend previous work on symbolic self-triggered control for non-deterministic continuous-time nonlinear systems without stability assumptions to a larger class of specifications. Our goal is to synthesise a controller for two objectives:…
This paper considers the infinite horizon optimal control problem for nonlinear systems. Under the condition of nonlinear controllability of the system to any terminal set containing the origin and forward invariance of the terminal set, we…
In this paper, we consider supervisory control of stochastic discrete event systems (SDESs) under linear temporal logic specifications. Applying the bounded synthesis, we reduce the supervisor synthesis into a problem of satisfying a safety…
We examine Lagrangian techniques for computing underapproximations of finite-time horizon, stochastic reach-avoid level-sets for discrete-time, nonlinear systems. We use the concept of reachability of a target tube in the control literature…
General purpose correct-by-construction synthesis methods are limited to systems with low dimensionality or simple specifications. In this work we consider highly symmetrical counting problems and exploit the symmetry to synthesize provably…
This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…
We present a method of computing backward reachable sets for nonlinear discrete-time control systems possessing continuous symmetries. The starting point is a dynamic game formulation of reachability analysis where control inputs aim to…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
In its quest for approaches to taming uncertainty in self-adaptive systems (SAS), the research community has largely focused on solutions that adapt the SAS architecture or behaviour in response to uncertainty. By comparison, solutions that…
We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor…
We propose an efficient symbolic control synthesis algorithm for equivariant continuous-time dynamical systems to satisfy reach-avoid specifications. The algorithm exploits dynamical symmetries to construct lean abstractions to avoid…
The goal of logical controller synthesis is to automatically compute a control strategy that regulates the discrete, event-driven behavior of a given plant s.t. a temporal logic specification holds over all remaining traces. Standard…
This article presents a scalable implementation of nonlinear Gramian-based control synthesis for control-affine systems, including a minimum energy control construction. These synthesis advances are achieved by addressing key computational…
This paper investigates one-step backward reachability for uncertain max-plus linear systems with additive disturbances. Given a target set, the problem is to compute the set of states from which there exists an admissible control input…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…