Related papers: Direct data-driven control with signal temporal lo…
In the timeline-based approach to planning, the evolution over time of a set of state variables (the timelines) is governed by a set of temporal constraints. Traditional timeline-based planning systems excel at the integration of planning…
Formal control of cyber-physical systems allows for synthesis of control strategies from rich specifications such as temporal logics. However, the classes of systems that the formal approaches can be applied to is limited due to the…
This paper presents a new data-driven controller synthesis based on the Koopman operator and the extended $\mathcal{H}_2$ norm characterization of discrete-time linear systems. We model dynamical systems as polytope sets which are derived…
Through the use of the Fundamental Lemma for linear systems, a direct data-driven state-feedback control synthesis method is presented for a rather general class of nonlinear (NL) systems. The core idea is to develop a data-driven…
For the application of MPC design in on-line regulation or tracking control problems, several studies have attempted to develop an accurate model, and realize adequate uncertainty description of linear or non-linear plants of the processes.…
Designing tests to evaluate if a given autonomous system satisfies complex specifications is challenging due to the complexity of these systems. This work proposes a flow-based approach for reactive test synthesis from temporal logic…
In this paper, the problem of synthesizing a distributed controller from data is considered, with the objective to optimize a model-reference control criterion. We establish an explicit ideal distributed controller that solves the…
This paper presents a framework for automatic synthesis of a control sequence for multi-agent systems governed by continuous linear dynamics under timed constraints. First, the motion of the agents in the workspace is abstracted into…
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…
The use of spatio-temporal logics in control is motivated by the need to impose complex spatial and temporal behavior on dynamical systems, and to control these systems accordingly. Synthesizing correct-by-design control laws is a…
This paper studies the online control synthesis problem for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing techniques, this work proposes an approach based on STL, reachability…
The goal of this paper is to develop data-driven control design and evaluation strategies based on linear matrix inequalities (LMIs) and dynamic programming. We consider deterministic discrete-time LTI systems, where the system model is…
We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the…
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.…
We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dynamics of transportation and biological networks. The…
In many applications, the integrals and derivatives of signals carry valuable information (e.g., cumulative success over a time window, the rate of change) regarding the behavior of the underlying system. In this paper, we extend the…
This paper addresses the data-driven structured controller design problem for continuous-time linear time-invariant (LTI) systems. We consider three control objectives, including stabilization, $H_2$ performance, and $H_\infty$ performance.…
The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents' a-priori unknown behavior. Existing works have considered the problem where either all agents are…
In this paper, we present a provably correct controller synthesis approach for switched stochastic control systems with metric temporal logic (MTL) specifications with provable probabilistic guarantees. We first present the stochastic…
This note aims to provide a systematic investigation of direct data-driven control, enriching the existing literature not by adding another isolated result, but rather by offering a unifying, versatile, and broad framework that enables the…