Related papers: Safe and Robust Observer-Controller Synthesis usin…
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decomposition. Our method is based on formulating chance constraints…
We consider the problem of controller synthesis under imperfect information in a setting where there is a set of available observable predicates equipped with a cost function. The problem that we address is the computation of a subset of…
This paper develops a data-driven safe control framework for nonlinear discrete-time systems with parametric uncertainty and additive disturbances. The proposed approach constructs a data-consistent closed-loop representation that enables…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
This paper proposes a novel unified interval-valued observer synthesis approach for locally Lipschitz nonlinear continuous-time (CT) and discrete-time (DT) systems with nonlinear observations. A key feature of our proposed observer, which…
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving…
We consider the problem of synthesizing a dynamic output-feedback controller for a linear system, using solely input-output data corrupted by measurement noise. To handle input-output data, an auxiliary representation of the original system…
In this paper, we provide a compositional framework for synthesizing hybrid controllers for interconnected discrete-time control systems enforcing specifications expressed by co-Buchi automata. In particular, we first decompose the given…
This paper investigates the output feedback stabilization of parabolic equation with Lipschitz nonlinearity over general multidimensional domain using spectral geometry theories. First, a novel nonlinear observer is designed, and the error…
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…
We study the constrained linear quadratic regulator with unknown dynamics, addressing the tension between safety and exploration in data-driven control techniques. We present a framework which allows for system identification through…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed…
Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…
We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…
Current state-of-the-art correct-by-design controllers are designed for full-state measurable systems. This work first extends the applicability of correct-by-design controllers to partially observable LTI systems. Leveraging 2nd order…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
In this paper, we provide a direct data-driven approach to synthesize safety controllers for unknown linear systems affected by unknown-but-bounded disturbances, in which identifying the unknown model is not required. First, we propose a…