Related papers: A Compositional Approach to Safety-Critical Resili…
This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in…
Complex Cyber-Physical System (CPS) such as Unmanned Aerial System (UAS) got rapid development these years, but also became vulnerable to GPS spoofing, packets injection, buffer-overflow and other malicious attacks. Ensuring the behaviors…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
In an increasingly interconnected world, Cyber-Physical Systems (CPS) are essential to critical industries like healthcare, transportation, and manufacturing, merging physical processes with computational intelligence. However, the security…
Safety and security are the two most important properties of industrial control systems (ICS), and their integration is necessary to ensure that safety goals do not undermine security goals and vice versa. Sometimes, safety and security…
This paper addresses the problem of distributed resilient state estimation and control for linear time-invariant systems in the presence of malicious false data injection sensor attacks and bounded noise. We consider a system operator…
Machine learning components such as deep neural networks are used extensively in Cyber-Physical Systems (CPS). However, they may introduce new types of hazards that can have disastrous consequences and need to be addressed for engineering…
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to…
The Detector Control System (DCS) of the COMPASS experiment at CERN is presented. The experiment has a high level of complexity and flexibility and a long time of operation, that constitute a challenge for its full monitorisation and…
Detecting kinetic vulnerabilities in Cyber-Physical Systems (CPS), vulnerabilities in control code that can precipitate hazardous physical consequences, is a critical challenge. This task is complicated by the need to analyze the intricate…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
In this paper, we propose a novel safety-critical control framework for a chain of integrators subject to both matched and mismatched perturbations. The core of our approach is a linear, time-varying state-feedback design that…
We consider the problem of how to deploy a controller to a (networked) cyber-physical system (CPS). Controlling a CPS is an involved task, and synthesizing a controller to respect sensing, actuation, and communication constraints is only…
Safety in reinforcement learning is often specified through cumulative cost constraints, but these trajectory-level guarantees do not directly prevent unsafe individual decisions, especially under nonstationarity. In continual and…
The increasing penetration of distributed energy resources and power-electronics interfaces in DC microgrids, coupled with rising cyber threats, necessitates primary controllers that are provably safe, cyber-resilient, and practical. The…
Cyber-physical systems (CPS) have been broadly deployed in safety-critical domains, such as automotive systems, avionics, medical devices, etc. In recent years, Artificial Intelligence (AI) has been increasingly adopted to control CPS.…
We present the first decentralized algorithm for detecting predicates over continuous-time signals under partial synchrony. A distributed cyber-physical system (CPS) consists of a network of agents, each of which measures (or computes) a…
This paper studies the controllability of networked relative coupling systems (NRCSs), in which subsystems are of fixed high-order linear dynamics and coupled through relative variables depending on their neighbors, from a structural…
We present a new guaranteed-safe model predictive path integral (GS-MPPI) control algorithm that enhances sample efficiency in nonlinear systems with multiple safety constraints. The approach use a composite control barrier function (CBF)…
This article provides a tool for analyzing mechanisms that aim to achieve resilience against stealthy, or undetectable, attacks on cyber-physical systems (CPSs). We consider attackers who are able to corrupt all of the inputs and outputs of…