Related papers: Control-Lyapunov and Control-Barrier Functions bas…
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…
We present a reinforcement learning (RL) framework to synthesize a control policy from a given linear temporal logic (LTL) specification in an unknown stochastic environment that can be modeled as a Markov Decision Process (MDP).…
Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is…
Control Lyapunov functions (CLFs) and Control Barrier Functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs). This framework guarantees safety in the form of trajectory invariance with…
This paper provides a first example of constructing Lyapunov functions in a class of piecewise linear systems with limit cycles. The method of construction helps analyze and control complex oscillating systems through novel geometric means.…
In this paper, we develop a systematic method for constructing a generalized discrete-time control Lyapunov function for the flexible-step Model Predictive Control (MPC) scheme, recently introduced in [2], when restricted to the class of…
The synthesis of a smooth tracking control for Euler-Lagrangian (EL) systems under stringent state, input, and temporal (SIT) constraints is challenging. In contrast to existing methods that utilize prior knowledge of EL model parameters…
This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
This paper studies the tracking control problem of nonlinear networked and quantized control systems (NQCSs) with communication delays. The desired trajectory is generated by a reference system. The communication network is to guarantee the…
Given a Markov decision process (MDP) and a linear-time ($\omega$-regular or LTL) specification, the controller synthesis problem aims to compute the optimal policy that satisfies the specification. More recently, problems that reason over…
Formal control of cyber-physical systems allows for synthesis of control strategies from rich specifications such as temporal logics. However, the classes of systems that the formal approaches can be applied to is limited due to the…
This paper investigates the control synthesis for continuous-time uncertain systems under nested Signal Temporal Logic (STL) specifications containing nested temporal operators. Control Barrier Functions (CBFs) are utilized herein to encode…
We present a controller synthesis algorithm for a discrete time reach-avoid problem in the presence of adversaries. Our model of the adversary captures typical malicious attacks envisioned on cyber-physical systems such as sensor spoofing,…
Safety is one of the fundamental problems in robotics. Recently, one-step or multi-step optimal control problems for discrete-time nonlinear dynamical system were formulated to offer tracking stability using control Lyapunov functions…
We introduce a counter-example guided inductive synthesis (CEGIS) framework for synthesizing continuous-time switching controllers that guarantee reach while stay (RWS) properties of the closed loop system. The solution is based on…
This paper studies the stabilization and safety problems of nonlinear time-delay systems. Following both Razumikhin and Krasovskii approaches, we propose novel control Lyapunov functions/functionals for the stabilization problem and novel…
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…
In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…