Related papers: Counter-example guided inductive synthesis of cont…
Finite-state systems have applications in systems biology, formal verification and synthesis of infinite-state (hybrid) systems, etc. As deterministic finite-state systems, logical control networks (LCNs) consist of a finite number of nodes…
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap…
We present a method for synthesizing dynamic, reduced-order output-feedback polynomial control policies for control-affine nonlinear systems which guarantees runtime stability to a goal state, when using visual observations and a learned…
This paper considers a sampling-based approach to stability verification for piecewise continuous nonlinear systems via Lyapunov functions. Depending on the system dynamics, the candidate Lyapunov function and the set of initial states of…
This paper presents a Lyapunov-Halanay method to study global asymptotic stabilization (GAS) of nonlinear retarded systems subject to large constant delays in input/output - a challenging problem due to their inherent destabilizing effects.…
Counterfactuals, serving as one of the emerging type of model interpretations, have recently received attention from both researchers and practitioners. Counterfactual explanations formalize the exploration of ``what-if'' scenarios, and are…
This paper studies data-driven stabilization of a class of unknown polynomial systems using data corrupted by bounded noise. Existing work addressing this problem has focused on designing a controller and a Lyapunov function so that a…
This paper investigates the design of a robust fixed-order controller for single-input-single-output (SISO) polytopic systems with interval uncertainties, with the aim that the closed-loop stability is appropriately ensured and the…
We present a controller synthesis algorithm for a discrete time reach-avoid problem in the presence of adversaries. Our model of the adversary captures typical malicious attacks envisioned on cyber-physical systems such as sensor spoofing,…
Recent program synthesis techniques help users customize CAD models(e.g., for 3D printing) by decompiling low-level triangle meshes to Constructive Solid Geometry (CSG) expressions. Without loops or functions, editing CSG can require many…
This paper examines the problem of stabilizing linear distributed delay systems with nonlinear distributed delay kernels and dissipativity constraints. Specifically, the nonlinear distributed kernel includes functions such as polynomials,…
Iterative first-order methods such as gradient descent and its variants are widely used for solving optimization and machine learning problems. There has been recent interest in analytic or numerically efficient methods for computing…
The control Lyapunov function (CLF) approach to nonlinear control design is well established. Moreover, when the plant is control affine and polynomial, sum-of-squares (SOS) optimization can be used to find a polynomial controller as a…
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety specifications for these driver assistance modules are expressed in terms of set…
The problem of stationary robust L_infinity-induced deconvolution filtering for the uncertain continuous-time linear stochastic systems is addressed. The state space model of the system contains state- and input-dependent noise and…
We study the problem of robust global stabilization in control-affine systems, focusing on dynamic uncertainties in the control directions \emph{and} the presence of topological obstructions that prevent the existence of smooth global…
This paper investigates the consensus problem of multiple uncertain Lagrangian systems. Due to the discontinuity resulted from the switching topology, achieving consensus in the context of uncertain Lagrangian systems is challenging. We…
Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier(CBFs) and lyapunov function with a class-$\mathcal{K}$ function of their values, are sensitive to the…
A Learning Model Predictive Controller (LMPC) for linear system in presented. The proposed controller is an extension of the LMPC [1] and it aims to decrease the computational burden. The control scheme is reference-free and is able to…
This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of iterations and directly yields a partition-based invariance…