Related papers: A symbolic approach to the self-triggered design f…
Feedback control laws have been traditionally implemented in a periodic fashion on digital hardware. Although periodicity simplifies the analysis of the mismatch between the control design and its digital implementation, it also leads to…
Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for autonomous planning and control. Nevertheless, existing verification and control synthesis methods are limited with respect to the…
In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and the bounds on the rate of change of these dynamics. This…
The formal analysis and design of control systems is one of recent trends in control theory. In this area, in order to reduce the complexity and scale of control systems, finite abstractions of control systems are introduced and explored.…
Energy games, which model quantitative consumption of a limited resource, e.g., time or energy, play a central role in quantitative models for reactive systems. Reactive synthesis constructs a controller which satisfies a given…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…
One of the most widespread framework for the management of access-control policies is Administrative Role Based Access Control (ARBAC). Several automated analysis techniques have been proposed to help maintaining desirable security…
Symbolic execution is a powerful technique for program analysis. However, it has many limitations in practical applicability: the path explosion problem encumbers scalability, the need for language-specific implementation, the inability to…
The paper proposes a novel event-triggered control scheme for nonlinear systems based on the input-delay method. Specifically, the closed-loop system is associated with a pair of auxiliary input and output. The auxiliary output is defined…
In this paper, we focus on mitigating the computational complexity in abstraction-based controller synthesis for interconnected control systems. To do so, we provide a compositional framework for the construction of abstractions for…
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation,…
We present an algorithm of control synthesis for nonlinear switched systems, based on an existing procedure of state-space bisection and made available for nonlinear systems with the help of validated simulation. The use of validated…
As power systems evolve with the increasing integration of renewable energy sources and smart grid technologies, there is a growing demand for flexible and scalable modeling approaches capable of capturing the complex dynamics of modern…
Inspired by the increased cooperation between humans and autonomous systems, we present a new hybrid systems framework capturing the interconnected dynamics underlying these interactions. The framework accommodates models arising from both…
In this paper we propose sufficient conditions to synthesizing reach-avoid controllers for deterministic systems modelled by ordinary differential equations and stochastic systems modeled by stochastic differential equations based on the…
The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…
Perception-based neural network controllers are increasingly used in autonomous systems that rely on visual inputs to operate in the real world. Ensuring the safety of such systems under uncertainty is challenging. Existing verification…
Abstraction-based techniques are an attractive approach for synthesizing correct-by-construction controllers to satisfy high-level temporal requirements. A main bottleneck for successful application of these techniques is the memory…
In this work, we propose an abstraction and refinement methodology for the controller synthesis of discrete-time stochastic systems to enforce complex logical properties expressed by deterministic finite automata (a.k.a. DFA). Our proposed…