Related papers: Software Fault Tolerance for Cyber-Physical System…

The verification and validation of cyber-physical systems is known to be a difficult problem due to the different modeling abstractions used for control components and for software components. A recent trend to address this difficulty is to…

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…

Autonomous cyber-physical systems (CPS) rely on the correct operation of numerous components, with state-of-the-art methods relying on machine learning (ML) and artificial intelligence (AI) components in various stages of sensing and…

Control systems can show robustness to many events, like disturbances and model inaccuracies. It is natural to speculate that they are also robust to sporadic deadline misses when implemented as digital tasks on an embedded platform. This…

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 study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…

This paper addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncertain nonlinear system is decomposed based on a first-order…

Reasoning about safety, security, and other dependability attributes of autonomous systems is a challenge that needs to be addressed before the adoption of such systems in day-to-day life. Formal methods is a class of methods that…

This paper is concerned with the detection, resilient and fault-tolerant control issues for cyber-physical systems. To this end, the impairment of system dynamics caused by the defined types of cyber-attacks and process faults is analyzed.…

Transformer models rely on High-Performance Computing (HPC) resources for inference, where soft errors are inevitable in large-scale systems, making the reliability of the model particularly critical. Existing fault tolerance frameworks for…

This paper deals with analysis, simultaneous detection of faults and attacks, fault-tolerant control and attack-resilient of cyber-physical control systems. In our recent work, it has been observed that an attack detector driven by an input…

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…

Cyber-physical systems (CPS) are required to satisfy safety constraints in various application domains such as robotics, industrial manufacturing systems, and power systems. Faults and cyber attacks have been shown to cause safety…

Reversible computing has emerged as a possible low cost alternative to conventional computing in terms of speed, power consumption and computing capability. In order to achieve reliable circuits in reversible computing, provision for fault…

Toward scalable quantum computing, the control of quantum systems needs to be robust against both coherent errors induced by parametric uncertainties and incoherent errors induced by environmental decoherence. This poses significant…

Closed-loop control systems employ continuous sensing and actuation to maintain controlled variables within preset bounds and achieve the desired system output. Intentional disturbances in the system, such as in the case of cyberattacks,…

The design of reliable circuits has received a lot of attention in the past, leading to the definition of several design techniques introducing fault detection and fault tolerance properties in systems for critical…

An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…

We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…

We present a sound and automated approach to synthesize safe digital feedback controllers for physical plants represented as linear, time invariant models. Models are given as dynamical equations with inputs, evolving over a continuous…