Related papers: Safe and Robust Observer-Controller Synthesis usin…
The prolific rise in autonomous systems has led to questions regarding their safe instantiation in real-world scenarios. Failures in safety-critical contexts such as human-robot interactions or even autonomous driving can ultimately lead to…
This work considers the problem of calculating an interval-valued state estimate for a nonlinear system subject to bounded inputs and measurement errors. Such state estimators are often called interval observers. Interval observers can be…
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…
The need for robust control laws is especially important in safety-critical applications. We propose robust hybrid control barrier functions as a means to synthesize control laws that ensure robust safety. Based on this notion, we formulate…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
In this paper, we investigate safety-critical control problem of discrete-time stochastic systems with incomplete information, where safety constraints must be enforced using state estimates obtained from noisy measurements. We develop an…
In human-robot collaboration (HRC), software-based automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly…
Various methods are nowadays available to design observers for broad classes of systems, where the primary focus is on establishing the convergence of the estimated states. Nevertheless, the question of the tuning of the observer to achieve…
In this paper we propose a new observer design technique for nonlinear systems. It combines the well-known Kazantzis-Kravaris-Luenberger observer and the recently introduced parameter estimation-based observer, which become special cases of…
Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design remains challenging, motivating the development of…
We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…
The increasing use of data-driven control strategies gives rise to the problem of learning-based state observation. Motivated by this need, the present work proposes a data-driven approach for the synthesis of state observers for…
We address the problem of designing simultaneous input and state interval observers for Lipschitz continuous nonlinear systems with rank-deficient feedthrough, unknown inputs and bounded noise signals. Benefiting from the existence of…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…
System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback…
We present a new method for the automated synthesis of digital controllers with formal safety guarantees for systems with nonlinear dynamics, noisy output measurements, and stochastic disturbances. Our method derives digital controllers…
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…
The existence of a Control Barrier Function (CBF) for a control-affine system provides a powerful design tool to ensure safety. Any controller that satisfies the CBF condition and ensures that the trajectories of the closed-loop system are…
This paper introduces an approach for synthesizing feasible safety indices to derive safe control laws under state-dependent control spaces. The problem, referred to as Safety Index Synthesis (SIS), is challenging because it requires the…
Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of disturbances and input constraints for high relative degree…