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In this paper, we investigate the problem of semi-global minimal time robust stabilization of analytic control systems with controls entering linearly, by means of a hybrid state feedback law. It is shown that, in the absence of minimal…
Switching controllers play a pivotal role in directing hybrid systems (HSs) towards the desired objective, embodying a ``correct-by-construction'' approach to HS design. Identifying these objectives is thus crucial for the synthesis of…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
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…
Translating continuous control system models into finite automata allows us to use powerful discrete tools to synthesize controllers for complex specifications. The abstraction construction step is unfortunately hamstrung by high runtime…
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 this paper, we provide for the first time an automated, correct-by-construction, controller synthesis scheme for a class of infinite dimensional stochastic systems, namely, retarded jump-diffusion systems. First, we construct finite…
In this work, we introduce a compositional framework for the construction of finite abstractions (a.k.a. symbolic models) of interconnected discrete-time control systems. The compositional scheme is based on the joint dissipativity-type…
In this paper, a method is presented to synthesize neural network controllers such that the feedback system of plant and controller is dissipative, certifying performance requirements such as L2 gain bounds. The class of plants considered…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
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 demonstrate that it is possible to construct operators that stabilize the constraint-satisfying subspaces of computational problems in their Ising representations. We provide an explicit recipe to construct unitaries and associated…
General purpose correct-by-construction synthesis methods are limited to systems with low dimensionality or simple specifications. In this work we consider highly symmetrical counting problems and exploit the symmetry to synthesize provably…
In this paper, we introduce NNSynth, a new framework that uses machine learning techniques to guide the design of abstraction-based controllers with correctness guarantees. NNSynth utilizes neural networks (NNs) to guide the search over the…
A key property for systems subject to uncertainty in their operating environment is robustness, ensuring that unmodelled, but bounded, disturbances have only a proportionally bounded effect upon the behaviours of the system. Inspired by…
Recent advances in learning for control allow to synthesize vehicle controllers from learned system dynamics and maintain robust stability guarantees. However, no approach is well-suited for training linear time-invariant (LTI) controllers…
We consider controllable linear discrete-time systems with bounded perturbations and present two methods to compute robust controlled invariant sets. The first method tolerates an arbitrarily small constraint violation to compute an…
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…