Related papers: m-Order Time Optimal Control Synthesis Function of…
This paper presents a mathematical approach for improving the performance of a control system by modifying the time delay at certain operating conditions. This approach converts a continuous time loop into a discrete time loop. The formula…
We propose a new method for controlled system synthesis on non-deterministic automata, which includes the synthesis for deadlock-freeness, as well as invariant and reachability expressions. Our technique restricts the behavior of a…
Music enhances video narratives and emotions, driving demand for automatic video-to-music (V2M) generation. However, existing V2M methods relying solely on visual features or supplementary textual inputs generate music in a black-box…
In this paper, we propose a compositional approach to construct opacity-preserving finite abstractions (a.k.a symbolic models) for networks of discrete-time nonlinear control systems. Particularly, we introduce new notions of simulation…
Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator…
This paper develops a controller synthesis method for distributed LQG control problems under output-feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While the…
A common approach in robotics is to learn tasks by generalizing from special cases given by a so-called demonstrator. In this paper, we apply this paradigm and present an algorithm that uses a demonstrator (typically given by a trajectory…
Networks of coupled dynamical systems provide a powerful way to model systems with enormously complex dynamics, such as the human brain. Control of synchronization in such networked systems has far reaching applications in many domains,…
This paper presents a trajectory generation method that optimizes a quadratic cost functional with respect to linear system dynamics and to linear input and state constraints. The method is based on continuous-time flatness-based trajectory…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
Complex real-world applications of cyber-physical systems give rise to the need for multi-objective controller synthesis, which concerns the problem of computing an optimal controller subject to multiple (possibly conflicting) criteria. The…
This paper addresses the challenge of overfitting in the learning of dynamical systems by introducing a novel approach for the generation of synthetic data, aimed at enhancing model generalization and robustness in scenarios characterized…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
Motivated by the post-disaster distribution system restoration problem, in this paper, we study the problem of synthesizing the optimal policy for a Markov Decision Process (MDP) from a sequence of goal sets. For each goal set, our aim is…
We present an extension of optimal mode decomposition (OMD) for autonomous systems to systems with controls. The extension is developed along the same lines as the extension of dynamic mode decomposition (DMD) to DMD with control (DMDc).…
Control Barrier Functions (CBFs) offer a framework for ensuring set invariance and designing constrained control laws. However, crafting a valid CBF relies on system-specific assumptions and the availability of an accurate system model,…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
Contract automata allow to formally define the behaviour of service contracts in terms of service offers and requests, some of which are moreover optional and some of which are necessary. A composition of contracts is said to be in…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
In this paper, we consider the problem of computing parameters of an objective function for a discrete-time optimal control problem from state and control trajectories with active control constraints. We propose a novel method of inverse…