Related papers: Safety-Critical Event Triggered Control via Input-…
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…
We implement a recently proposed event-triggered networked MPC approach on industrial hardware to analyze its practical relevance. There exist several alternatives for such an implementation that differ with respect to the distribution of…
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…
We consider a stochastic system where the communication between the controller and the actuator is triggered by a threshold-based rule. The communication is performed across an unreliable link that stochastically erases transmitted packets.…
We propose a real-time control strategy that combines self-triggered control with Control Lyapunov Functions (CLF) and Control Barrier Functions (CBF). Similar to related works proposing CLF-CBF-based controllers, the computation of the…
In order to guarantee that a supervised system satisfies safety requirements of the specification, as well as requirements saying that in certain states certain events must be enabled, this paper introduces required events for discrete…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
In this paper, we consider the problem of second moment stabilization of a scalar linear plant with process noise. We assume that the sensor must communicate with the controller over an unreliable channel, whose state evolves according to a…
We study event-triggered control for stabilization of unstable linear plants over rate-limited communication channels subject to unknown, bounded delay. On one hand, the timing of event triggering carries implicit information about the…
This paper studies integral-type event-triggered model predictive control (MPC) of continuous-time nonlinear systems. An integral-type event-triggered mechanism is proposed by incorporating the integral of errors between the actual and…
The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems are safety-critical. Safety requirements are often…
Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose a prescribed-time safety (PTSf) design which enforces…
This paper addresses the safety challenges in impulsive systems, where abrupt state jumps introduce significant complexities into system dynamics. A unified framework is proposed by integrating Quadratic Programming (QP), Control Barrier…
In this paper, we present a model-based periodic event-triggered control mechanism for nonlinear continuous-time Networked Control Systems. A sampled-data prediction of the system behavior is used at the actuator to reduce the amount of…
Self-triggered control (STC) is a sample-and-hold control method aimed at reducing communications within networked-control systems; however, existing STC mechanisms often maximize how late the next sample is, and as such they do not provide…
The objective of this research is to enable safety-critical systems to simultaneously learn and execute optimal control policies in a safe manner to achieve complex autonomy. Learning optimal policies via trial and error, i.e., traditional…
Deploying safety-critical controllers in practice necessitates the ability to modulate uncertainties in control systems. In this context, robust control barrier functions -- in a variety of forms -- have been used to obtain safety…
In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…
Energy constraint long-range wireless sensor/ actuator based solutions are theoretically the perfect choice to support the next generation of city-scale cyber-physical systems. Traditional systems adopt periodic control which increases…
This paper proposes a cyber-resilient secure control framework for autonomous vehicles (AVs) subject to false data injection (FDI) threats as actuator attacks. The framework integrates data-driven modeling, event-triggered communication,…