Related papers: Disturbance Bounds for Signal Temporal Logic Task …
This paper presents a strategy for control of a spacecraft docking with a non-maneuvering target in the presence of safety constraints and bounded disturbances. The presence of disturbances prevents convergence to a unique docking state, so…
This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…
Consider a stochastic nonlinear system controlled over a possibly noisy communication channel. An important problem is to characterize the largest class of channels for which there exist coding and control policies so that the closed-loop…
This paper studies the problem of safe stabilization of control-affine systems under uncertainty. Our starting point is the availability of worst-case or probabilistic error descriptions for the dynamics and a control barrier function…
A new measure to characterize stability of complex dynamical systems against large perturbation is suggested, the stability threshold (ST). It quantifies the magnitude of the weakest perturbation capable to disrupt the system and switch it…
This paper addresses the challenge of ensuring robustness in the presence of system perturbations for symbolic control techniques. Given a discrete-time control system that is related to its symbolic model by an alternating simulation…
This paper proposes a notion termed perturbation-tolerant structural controllability (PTSC) to study the generic property of controllability preservation/resilience of structured linear systems under structured perturbations. A structured…
In this paper, we investigate the problem of synthesizing controllers for temporal logic specifications under security constraint. We assume that there exists a passive intruder (eavesdropper) that can partially observe the behavior of the…
We consider the problem of stabilization of a linear system, under state and control constraints, and subject to bounded disturbances and unknown parameters in the state matrix. First, using a simple least square solution and available…
A framework is presented for the verification of Signal Temporal Logic (STL) specifications over continuous-time nonlinear systems under uncertainty. Based on reachability analysis, the proposed method addresses indeterminate satisfaction…
Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks. In particular, the satisfaction of each of these…
Considering the control problem for nonlinear uncertain systems, the tolerable range of uncertain control input gain is a fundamental issue. The paper presents the necessary and sufficient condition for the well-performed closed-loop system…
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.…
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy,…
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…
We consider the problem of output feedback regulationfor a linear first-order hyperbolic system with collocatedinput and output in presence of a general class of disturbancesand noise. The proposed control law is designed through…
The stable throughput region of the two-user interference channel is investigated here. First, the stability region for the general case is characterized. Second, we study the cases where the receivers treat interference as noise or perform…
In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…
We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…
We apply measures of complexity, emergence and self-organization to an abstract city traffic model for comparing a traditional traffic coordination method with a self-organizing method in two scenarios: cyclic boundaries and non-orientable…