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Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
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.…
This paper introduces a general approximate alternating simulation relation (\emph{$\varepsilon$-gAAS relation}) for continuous-time systems, which relaxes existing simulation relations to tolerate larger mismatches between abstract and…
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control…
In this paper, we develop a compositional scheme for the construction of continuous approximations for interconnections of infinitely many discrete-time switched systems. An approximation (also known as abstraction) is itself a…
Reduced-order template models like the Linear Inverted Pendulum (LIP) and Spring-Loaded Inverted Pendulum (SLIP) are widely used tools for controlling high-dimensional humanoid robots. However, connections between templates and whole-body…
This paper formulates and studies the concepts of approximate (alternating) bisimulation relations characterizing equivalence relations between interconnected systems and their abstractions. These equivalence relations guarantee that the…
This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…
This paper addresses the challenge of ensuring robustness in the presence of system perturbations for symbolic control techniques. Given a discrete-time control system that is related to its symbolic model by an alternating simulation…
Model Predictive Control is an extremely effective control method for systems with input and state constraints. Model Predictive Control performance heavily depends on the accuracy of the open-loop prediction. For systems with uncertainty…
Classical simulations of time-dependent quantum systems are widely used in quantum control research. In particular, these simulations are commonly used to host iterative optimal control algorithms. This is convenient for algorithms that are…
Neural networks hold great potential to act as approximate models of nonlinear dynamical systems, with the resulting neural approximations enabling verification and control of such systems. However, in safety-critical contexts, the use of…
For linear infinite systems the approximate controllability problem by control constraints is considered. Controllability conditions represented via system parameters are obtained. Partial differential control systems and control systems…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
At the intersection of dynamical systems, control theory, and formal methods lies the construction of symbolic abstractions: these typically represent simpler, finite-state models whose behavior mimics that of an underlying concrete system…
The main goal of this paper is developing the method of discrete approximations to derive necessary optimality conditions for a class of constrained sweeping processes with nonsmooth perturbations. Optimal control problems for sweeping…
Control systems can show robustness to many events, like disturbances and model inaccuracies. It is natural to speculate that they are also robust to sporadic deadline misses when implemented as digital tasks on an embedded platform. This…