Related papers: Reference Dependent Invariant Sets: Sum of Squares…
This paper addresses the critical challenge of developing data-driven certificates for the stability and safety of unmodeled dynamical systems by leveraging a tree data structure and an upper bound of the system's Lipschitz constant.…
Nonlinear parameter-varying (NPV) systems are a class of nonlinear systems whose dynamics explicitly depend on time-varying external parameters, making them suitable for modeling real-world systems with dynamics variations. Traditional…
Modern safety-critical energy infrastructures are increasingly operated in a hierarchical and modular control framework which allows for limited data exchange between the modules. In this context, it is important for each module to…
This paper assesses the transient stability of a synchronous machine connected to an infinite bus through the notion of invariant sets. The problem of computing a conservative approximation of the maximal positive invariant set is…
In this paper, we propose a distributed model predictive control (DMPC) scheme for linear time-invariant constrained systems which admit a separable structure. To exploit the merits of distributed computation algorithms, the stabilizing…
Barrier certificates, a form of state invariants, provide an automated approach to the verification of the safety of dynamical systems. Similarly to barrier certificates, recent works explore the notion of closure certificates, a form of…
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…
The two main contributions of this paper are a proof of concept of the recent novel idea in the area of long-time average cost control, and a new method of overcoming the well-known difficulty of non-convexity of simultaneous optimization…
We consider controllable linear discrete-time systems with bounded perturbations and present two methods to compute robust controlled invariant sets. The first method tolerates an arbitrarily small constraint violation to compute an…
Semidefinite programs (SDPs) are standard convex problems that are frequently found in control and optimization applications. Interior-point methods can solve SDPs in polynomial time up to arbitrary accuracy, but scale poorly as the size of…
Managing uncertainty is a fundamental and critical issue in spacecraft entry guidance. This paper presents a novel approach for uncertainty propagation during entry, descent and landing that relies on a new sum-of-squares robust…
In order to address the imprecision often introduced by widening operators in static analysis, policy iteration based on min-computations amounts to considering the characterization of reachable value set of a program as an iterative…
In this paper, we consider the problem of constraint management in Linear Periodic (LP) systems using Reference Governors (RG). First, we present the periodic-invariant maximal output admissible sets for LP systems. We extend the earlier…
In this paper, we consider the problem of invariant set computation for black-box switched linear systems using merely a finite set of observations of system trajectories. In particular, this paper focuses on polyhedral invariant sets. We…
Adaptive control strategies usually are designed based on gradient methods for the sake of simplicity in Lyapunov analysis. However, least squares (LS)-based parameter identifiers, with proper selection of design parameters, exhibit better…
We consider the problem of asymptotic convergence to invariant sets in interconnected nonlinear dynamic systems. Standard approaches often require that the invariant sets be uniformly attracting. e.g. stable in the Lyapunov sense. This,…
Recent advances in learning techniques have enabled the modelling of unknown dynamical systems directly from data. However, in many contexts, these learning-based methods are short of safety guarantee and strict stability verification. To…
The control Lyapunov function (CLF) approach to nonlinear control design is well established. Moreover, when the plant is control affine and polynomial, sum-of-squares (SOS) optimization can be used to find a polynomial controller as a…
In this paper we consider the problem of computing control invariant sets for linear controlled high-dimensional systems with constraints on the input and on the states. Set inclusions conditions for control invariance are presented that…
In this paper, we present a control framework for a general class of control-affine nonlinear systems under spatiotemporal and input constraints. Specifically, the proposed control architecture addresses the problem of reaching a given…