Related papers: Enforcing Safety under Actuator Attacks through In…

Cyber-physical systems are conducting increasingly complex tasks, which are often modeled using formal languages such as temporal logic. The system's ability to perform the required tasks can be curtailed by malicious adversaries that mount…

Digital control has become increasingly prevalent in modern systems, making continuous-time plants controlled by discrete-time (digital) controllers ubiquitous and crucial across industries, including aerospace, automotive, and…

In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…

Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work…

We study a security threat to batch reinforcement learning and control where the attacker aims to poison the learned policy. The victim is a reinforcement learner / controller which first estimates the dynamics and the rewards from a batch…

We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…

This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…

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 paper, we propose an approach for synthesizing provable reach-avoid controllers, which drive a deterministic system operating in an unknown environment to safely reach a desired target set. The approach falls within the reachability…

Data-driven control has emerged as a powerful paradigm for synthesizing controllers directly from data, bypassing explicit model identification. However, this reliance on data introduces new and largely unexplored vulnerabilities. In this…

Sensors are embedded in security-critical applications from medical devices to nuclear power plants, but their outputs can be spoofed through electromagnetic and other types of signals transmitted by attackers at a distance. To address the…

We consider the problem of controller design for linear time-invariant cyber-physical systems (CPSs) controlled via networks. Specifically, we adopt the set-up that a controller has already been designed to stabilize the plant. However, the…

We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor…

We propose a method to attack controllers that rely on external timeseries forecasts as task parameters. An adversary can manipulate the costs, states, and actions of the controllers by forging the timeseries, in this case perturbing the…

In this paper we investigate the optimal controller synthesis problem, so that the system under the controller can reach a specified target set while satisfying given constraints. Existing model predictive control (MPC) methods learn from a…

We take a divide and conquer approach to design controllers for reachability problems given large-scale linear systems with polyhedral constraints on states, controls, and disturbances. Such systems are made of small subsystems with coupled…

We consider the problem of securing a given control loop implementation of a cyber-physical system (CPS) in the presence of Man-in-the-Middle attacks on data exchange between plant and controller over a compromised network. To this end,…

Designing controllers with provable formal guarantees has become an urgent requirement for cyber-physical systems in safety-critical scenarios. Beyond addressing scalability in high-dimensional implementations, controller synthesis…

In this paper, we propose a data-driven networked control architecture for unknown and constrained cyber-physical systems capable of detecting networked false-data-injection attacks and ensuring plant's safety. In particular, on the…

Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…