Related papers: Resilient Abstraction-Based Controller Design
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
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.…
In this paper we study robust output tracking and disturbance rejection of linear partial differential equation (PDE) models. We focus on demonstrating how the abstract internal model based controller design methods developed for "regular…
This paper presents a step towards a formal controller design method for autonomous agents based on knowledge awareness to improve decision-making. Our approach is to first create an organized repository of information (a knowledge base)…
Classically, a control loop is designed to be executed strictly periodically. This is, however, difficult to achieve in many scenarios, for example, when overload or packet loss cannot be entirely avoided. Here, weakly-hard real-time…
The essential step of abstraction-based control synthesis for nonlinear systems to satisfy a given specification is to obtain a finite-state abstraction of the original systems. The complexity of the abstraction is usually the dominating…
We investigate stability analysis and controller design of unknown continuous-time systems under state-feedback with aperiodic sampling, using only noisy data but no model knowledge. We first derive a novel data-dependent parametrization of…
Critical systems must be designed resilient to all kinds of malfunctions. We are especially interested by the loss of control authority over actuators. This malfunction considers actuators producing uncontrolled and possibly undesirable…
As control systems grow in complexity, abstraction-based methods have become essential for designing controllers with formal guarantees. However, a key limitation of these methods is their reliance on discrete-time models, typically…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a…
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…
The ever-increasing industry desire for improved performance makes linear controller design run into fundamental limitations. Nonlinear control methods such as Reset Control (RC) are needed to overcome these. RC is a promising candidate…
In optimal control problems, disturbances are typically dealt with using robust solutions, such as H-infinity or tube model predictive control, that plan control actions feasible for the worst-case disturbance. Yet, planning for every…
This paper studies the construction of symbolic abstractions for nonlinear control systems via feedback refinement relation. Both the delay-free and time-delay cases are addressed. For the delay-free case, to reduce the computational…
We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…
The abstraction of dynamical systems is a powerful tool that enables the design of feedback controllers using a correct-by-design framework. We investigate a novel scheme to obtain data-driven abstractions of discrete-time stochastic…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given finite temporal logic specifications. Given a dynamical system…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…