Related papers: Control Contraction Metric Synthesis for Discrete-…
In this paper, first of all, we introduce the basic concepts of generating function in combinatorics and some combinatorial identities. In order to facilitate the understanding of m(greater than 1)-order time optimal control synthesis…
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…
This article presents a novel framework for the robust controller synthesis problem in discrete-time systems using dynamic Integral Quadratic Constraints (IQCs). We present an algorithm to minimize closed-loop performance measures such as…
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…
In this paper, first of all, we introduce the basic concepts of generating function in combinatorics and some combinatorial identities. In order to facilitate the understanding of m-order time optimal control synthesis function of discrete…
This study addresses the centralized synthesis of distributed controllers using linear matrix inequalities (LMIs). Sparsity constraints on control gains of distributed controllers result in conservatism via the convexification of the…
Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works, we demonstrate that SOS can synthesize dynamic controllers with bounded suboptimal…
This paper studies the online control synthesis problem for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing techniques, this work proposes an approach based on STL, reachability…
Synthesizing safety controllers for general nonlinear systems is a highly challenging task, particularly when the system models are unknown, and input constraints are present. While some recent efforts have explored data-driven safety…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…
Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches…
Consistency Models (CMs) have shown promise for efficient one-step generation. However, most existing CMs rely on manually designed discretization schemes, which can cause repeated adjustments for different noise schedules and datasets. To…
We present a robust model predictive control method (MPC) for discrete-time linear time-delayed systems with state and control input constraints. The system is subject to both polytopic model uncertainty and additive disturbances. In the…
Robotic practitioners generally approach the vision-based SLAM problem through discrete-time formulations. This has the advantage of a consolidated theory and very good understanding of success and failure cases. However, discrete-time SLAM…
In this work we use optimal control to generate Discrete Time Crystals (DTC) in generic many-body quantum systems. We define appropriate cost functions, which, when optimized, result in the formation of DTCs. This hitherto unexplored method…
This paper explores the theoretical limits of using discrete abstractions for nonlinear control synthesis. More specifically, we consider the problem of deciding continuous-time control with temporal logic specifications. We prove that…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…
This paper presents a novel distributed model predictive control (MPC) formulation without terminal cost and a corresponding distributed synthesis approach for distributed linear discrete-time systems with coupled constraints. The proposed…
A method for synthesizing dynamical decoupling (DD) sequences is presented, which can tailor these sequences to a given set of qubits, environments, instruments, and available resources using partial information of the system. The key…