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We introduce a metric that can quantify the temporal relaxation of Signal Temporal Logic (STL) specifications and facilitate resilient control synthesis in the face of infeasibilities. The proposed metric quantifies a cumulative notion of…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is to achieve dissipativity with respect to a given quadratic supply rate or a given $H_2$…
In this paper, we introduce a compositional method for the construction of finite abstractions of interconnected discrete-time switched systems. Particularly, we use a notion of so-called alternating simulation function as a relation…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
This paper considers the problem of controller synthesis of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional…
This paper studies the construction of dynamic symbolic abstractions for nonlinear control systems via dynamic quantization. Since computational complexity is a fundamental problem in the use of discrete abstractions, a dynamic quantizer…
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…
In this work, we address the issue of controller synthesis for a control-affine nonlinear system to meet prescribed time reach-avoid-stay specifications. Our goal is to improve upon previous methods based on spatiotemporal tubes (STTs) by…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
This paper studies the synthesis of controllers for discrete-time, continuous state stochastic systems subject to omega-regular specifications using finite-state abstractions. We present a synthesis algorithm for minimizing or maximizing…
This paper studies the controller synthesis problem for Linear Temporal Logic (LTL) specifications using (constrained) zonotope techniques. First, we implement (constrained) zonotope techniques to partition the state space and further to…
In this work, we address the output--feedback control problem for nonlinear systems under bounded disturbances using a moving horizon approach. The controller is posed as an optimization-based problem that simultaneously estimates the state…
We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via…
Inspired by a concrete industry problem we consider the input synthesis problem for hybrid systems: given a hybrid system that is subject to input from outside (also called disturbance or noise), find an input sequence that steers the…
Robustness of hybrid control systems to measurement noise, actuator disturbances, and more generally perturbations, is analyzed. The relationship between the robustness of a hybrid control system and of its implementations is emphasized.…
This paper presents a stochastic model predictive controller (SMPC) for linear time-invariant systems in the presence of additive disturbances. The distribution of the disturbance is unknown and is assumed to have a bounded support. A…
The practical impact of abstraction-based controller synthesis methods is currently limited by the immense computational effort for obtaining abstractions. In this note we focus on a recently proposed method to compute abstractions whose…
We consider the synthesis problem on timed automata with B\"uchi objectives, where delay choices made by a controller are subjected to small perturbations. Usually, the controller needs to avoid punctual guards, such as testing the equality…
This paper studies the reduction (abstraction) of finite-state transition systems for control synthesis problems. We revisit the notion of alternating simulation equivalence (ASE), a more relaxed condition than alternating bisimulations, to…
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…