Related papers: Abstraction-Based Output-Feedback Control with Sta…
The output regulation problem for unknown linear systems has been studied using state-based and output-based internal model approaches in the special case with no disturbances. This paper further investigates the output regulation problem…
This paper introduces a new approach for output feedback stabilization of SISO systems which, unlike most of the techniques found in the literature, does not use high-gain observers and control input saturation to achieve separation between…
Current state-of-the-art correct-by-design controllers are designed for full-state measurable systems. This work first extends the applicability of correct-by-design controllers to partially observable LTI systems. Leveraging 2nd order…
LTL synthesis is the problem of synthesizing a reactive system from a formal specification in Linear Temporal Logic. The extension of allowing for partial observability, where the system does not have direct access to all relevant…
In this work, we propose a data-driven approach for the construction of finite abstractions (a.k.a., symbolic models) for discrete-time deterministic control systems with unknown dynamics. We leverage notions of so-called alternating…
Constructing abstract interpreters that provide global soundness guarantees remains a major obstacle in abstract interpretation. We investigate whether modern LLMs can reduce this burden by leveraging them to synthesize sound, non-trivial…
This paper is concerned with a detailed comparison of two different abstraction techniques for the construction of finite state symbolic models for controller synthesis of hybrid systems. Namely, we compare quotient based abstractions…
Design of optimal distributed linear feedback controllers to achieve a desired aggregate behavior, while simultaneously satisfying state and input constraints, is a challenging but important problem in many applications. System level…
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…
This paper proposes a novel input-output parametrization of the set of internally stabilizing output-feedback controllers for linear time-invariant (LTI) systems. Our underlying idea is to directly treat the closed-loop transfer matrices…
LTL synthesis -- the construction of a function to satisfy a logical specification formulated in Linear Temporal Logic -- is a 2EXPTIME-complete problem with relevant applications in controller synthesis and a myriad of artificial…
In previous work, linear time-invariant event-triggered control (ETC) systems were abstracted to finite-state systems that capture the original systems' sampling behaviour. It was shown that these abstractions can be employed for scheduling…
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…
Unlike for Linear Time-Invariant (LTI) systems, for nonlinear systems, there exists no general framework for systematic convex controller design which incorporates performance shaping. The Linear Parameter-Varying (LPV) framework sought to…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
A common technique to verify complex logic specifications for dynamical systems is the construction of symbolic abstractions: simpler, finite-state models whose behaviour mimics the one of the systems of interest. Typically, abstractions…
Motivated by Smart Manufacturing and Industry 4.0, we introduce a framework for synthesizing Abstraction-Based Controller Design (ABCD) for reach-avoid problems from Natural Language (NL) specifications using Large Language Models (LLMs). A…
Symbolic control techniques aim to satisfy complex logic specifications. A critical step in these techniques is the construction of a symbolic (discrete) abstraction, a finite-state system whose behaviour mimics that of a given…
In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law to be implemented. The main advantage of the proposed…