Related papers: Resilient Abstraction-Based Controller Design
In this paper we describe the design and implementation of a current controller for a reluctance synchronous machine based on continuous set nonlinear model predictive control. A computationally efficient grey box model of the flux linkage…
This article develops a control method for linear time-invariant systems subject to time-varying and a priori unknown cost functions, that satisfies state and input constraints, and is robust to exogenous disturbances. To this end, we…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
Communication-aware control is essential to reduce costs and complexity in large-scale networks. This work proposes a method to design dissipativity-augmented output feedback controllers with reduced online communication. The contributions…
Predictive models are fundamental to engineering reliable software systems. However, designing conservative, computable approximations for the behavior of programs (static analyses) remains a difficult and error-prone process for modern…
End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification 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…
Many cyber-physical systems can naturally be formulated as switched systems with constrained switching. This includes systems where one of the signals in the feedback loop may be lost. Possible sources for losses are shared or unreliable…
This paper proposes a control strategy consisting of a robust controller and an Echo State Network (ESN) based control law for stabilizing a class of uncertain nonlinear discrete-time systems subject to persistent disturbances. Firstly, the…
Control co-design (CCD) is a technique for improving the closed-loop performance of systems through the coordinated design of both plant parameters and an optimal control policy. While model predictive control (MPC) is an attractive control…
In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control for rejecting disturbances and MPC for handling constraints.…
We investigate resilient control strategies for linear systems under Denial-of-Service (DoS) attacks. By DoS attacks we mean interruptions of communication on measurement (sensor-to-controller) and/or control (controller-to-actuator)…
This paper investigates the control synthesis for continuous-time uncertain systems under nested Signal Temporal Logic (STL) specifications containing nested temporal operators. Control Barrier Functions (CBFs) are utilized herein to encode…
We propose a convex distributed optimization algorithm for synthesizing robust controllers for large-scale continuous time systems subject to exogenous disturbances. Given a large scale system, instead of solving the larger centralized…
Seamless model based development aims to use models during all phases of the development process of a system. During the development process in a component-based approach, components of a system are described at qualitatively differing…
Abstraction-based control design is a promising approach for ensuring safety-critical control of complex cyber-physical systems. A key aspect of this methodology is the relation between the original and abstract systems, which ensures that…
We present data-based conditions for enforcing contractivity via feedback control and obtain desired asymptotic properties of the closed-loop system. We focus on unknown nonlinear control systems whose vector fields are expressible via a…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…