Related papers: Specification and Reactive Synthesis of Robust Con…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…
Despite decades of research and recent progress in adaptive control and reinforcement learning, there remains a fundamental lack of understanding in designing controllers that provide robustness to inherent non-asymptotic uncertainties…
We study the problem of synthesizing a controller to satisfy a complex task in the presence of sensor faults and attacks. We model the task using Gaussian distribution temporal logic (GDTL), and propose a solution approach that does not…
We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…
This paper proposes several definitions of robust stability for logic dynamical systems (LDSs) with uncertain switching, including robust/uniform robust set stability and asymptotical (or infinitely convergent)/finite-time set stability…
Developing critical components, such as mission controllers or embedded systems, is a challenging task. Reactive synthesis is a technique to automatically produce correct controllers. Given a high-level specification written in LTL,…
We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via…
Robustness as a system property describes the degree to which a system is able to function correctly in the presence of disturbances, i.e., unforeseen or erroneous inputs. In this paper, we introduce a notion of robustness termed…
Errors occurring on noisy hardware pose a key challenge to reliable quantum computing. Existing techniques such as error correction, mitigation, or suppression typically separate the error handling from the algorithm analysis and design. In…
In this paper, we consider the problem of controller design using approximately bisimilar abstractions with an emphasis on safety and reachability specifications. We propose abstraction-based approaches to solve both classes of problems. We…
Reactive synthesis is a technology for the automatic construction of reactive systems from logical specifications. In these lecture notes, we study different algorithms for the reactive synthesis problem of linear-time temporal logic (LTL).…
In this paper, we present how to synthesize controllers to enforce $\omega$-regular properties over linear control systems affected by bounded disturbances. In particular, these controllers are synthesized based on so-called hybrid…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
The focus of this thesis is developing a framework for designing correct-by-construction controllers using control certificates. We use nonlinear dynamical systems to model the physical environment (plants). The goal is to synthesize…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
We present a new average-based robustness score for Signal Temporal Logic (STL) and a framework for optimal control of a dynamical system under STL constraints. By averaging the scores of different specifications or subformulae at different…
Scalability issues may prevent users from verifying critical properties of a complex hardware design. In this situation, we propose to synthesize a "safety shield" that is attached to the design to enforce the properties at run time. Shield…
We take a divide and conquer approach to design controllers for reachability problems given large-scale linear systems with polyhedral constraints on states, controls, and disturbances. Such systems are made of small subsystems with coupled…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
Uncertainties influencing the dynamical systems pose a significant challenge in estimating the achievable performance of a controller aiming to control such uncertain systems. When the uncertainties are of stochastic nature, obtaining hard…