Related papers: Optimization-based control design techniques and t…
For various typical cases and situations where the formulation results in an optimal control problem, the Linear Quadratic Regulator (LQR) approach and its variants continue to be highly attractive. In certain scenarios, it can happen that…
Supervisory control theory provides means to synthesize supervisors for systems with discrete-event behavior from models of the uncontrolled plant and of the control requirements. The applicability of supervisory control theory often fails…
Data-driven controller design based on data informativity has gained popularity due to its straightforward applicability, while providing rigorous guarantees. However, applying this framework to the estimator synthesis problem introduces…
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the needle variations of optimal control---as the basis for choosing each control response to the current state. A…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
There is an increasing demand for controller design techniques capable of addressing the complex requirements of todays embedded applications. This demand has sparked the interest in symbolic control where lower complexity models of control…
In networked control systems, often the sensory signals are quantized before being transmitted to the controller. Consequently, performance is affected by the coarseness of this quantization process. Modern communication technologies allow…
An emerging branch of control theory specialises in certificate learning, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a…
This paper presents a control synthesis algorithm for dynamical systems to satisfy specifications given in a fragment of linear temporal logic. It is based on an abstraction-refinement scheme with nonuniform partitions of the state space. A…
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the…
Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approximates a non-smooth…
As the complexity and heterogeneity of a system grows, the challenge of specifying, documenting and synthesizing correct, machine-readable designs increases dramatically. Separation of the system into manageable parts is needed to support…
We propose a robust data-driven output feedback control algorithm that explicitly incorporates inherent finite-sample model estimate uncertainties into the control design. The algorithm has three components: (1) a subspace identification…
This paper presents a synthesis method for robust, regret optimal control. The plant is modeled in discrete-time by an uncertain linear time-invariant (LTI) system. An optimal non-causal controller is constructed using the nominal plant…
A data-driven computational heuristic is proposed to control MIMO systems without prior knowledge of their dynamics. The heuristic is illustrated on a two-input two-output balance system. It integrates a self-adjusting nonlinear threshold…
As we move towards safety-critical cyber-physical systems that operate in non-stationary and uncertain environments, it becomes crucial to close the gap between classical optimal control algorithms and adaptive learning-based methods. In…
Tabular data is common yet typically incomplete, small in volume, and access-restricted due to privacy concerns. Synthetic data generation offers potential solutions. Many metrics exist for evaluating the quality of synthetic tabular data;…
This paper studies the control of safety-critical dynamical systems in the presence of adversarial disturbances. We seek to synthesize state-feedback controllers to minimize a cost incurred due to the disturbance, while respecting a safety…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
We address H-infinity structured static state feedback and give a simple form for an optimal control law applicable to linear time invariant systems with symmetric and Hurwitz state matrix. More specifically, the control law as well as the…