Related papers: Separating Controller Design from Closed-Loop Desi…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered.…
Distributed control of large-scale systems is challenging due to the need for scalable and localized communication and computation. In this work, we introduce a Predictive System-Level Synthesis PredSLS framework that designs controllers by…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…
High-Level Synthesis (HLS) improves IC development productivity by enabling hardware design from C-like languages. However, strict coding constraints and design-specific optimizations limit its widespread adoption. While recent efforts…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…
Switching controllers play a pivotal role in directing hybrid systems (HSs) towards the desired objective, embodying a ``correct-by-construction'' approach to HS design. Identifying these objectives is thus crucial for the synthesis of…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
High-power converters based on elementary switching cells are more and more used in the industry of power electronics owing to various advantages such as lower voltage stress and reduced power loss. However, the complexity of controlling…
The problem under consideration is the synthesis of a distributed controller for a nonlinear network composed of input affine systems. The objective is to achieve exponential convergence of the solutions. To design such a feedback law,…
This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs have emerged as a compelling alternative in modelling…
With the increasing ubiquity of multi-capable, general-purpose robots arises the need for enabling non-expert users to command these robots to perform complex high-level tasks. To this end, high-level robot control has seen the application…
This paper proposes a novel method for distributed controller synthesis of homogeneous interconnected systems consisting of identical subsystems. The objective of the designed controller is to minimize the L2-gain of the performance…
We generalize the system level synthesis framework to systems defined by bounded causal linear operators, and use this parameterization to make connections between robust system level synthesis and classical results from the robust control…
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…
High-Level Synthesis (HLS) is emerging as a mainstream design methodology, allowing software designers to enjoy the benefits of a hardware implementation. Significant work has led to effective compilers that produce high-quality hardware…
This paper studies the controller synthesis problem for Linear Temporal Logic (LTL) specifications using (constrained) zonotope techniques. First, we implement (constrained) zonotope techniques to partition the state space and further to…
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,…