Related papers: Computing Controlled Invariant Sets of Nonlinear C…
Modern data-driven control applications call for flexible nonlinear models that are amenable to principled controller synthesis and realtime feedback. Many nonlinear dynamical systems of interest are control affine. We propose two novel…
In this paper, we study the convergence properties of an iterative algorithm for fast nonlinear model predictive control of quasi-linear parameter-varying systems without inequality constraints. Compared to previous works considering this…
This paper presents a direct data-driven approach for computing robust control invariant (RCI) sets and their associated state-feedback control laws for linear time-invariant systems affected by bounded disturbances. The proposed method…
The analysis of industrial processes, modelled as descriptor systems, is often computationally hard due to the presence of both algebraic couplings and difference equations of high order. In this paper, we introduce a control refinement…
Reachable set computation is an important tool for analyzing control systems. Simulating a control system can show general trends, but a formal tool like reachability analysis can provide guarantees of correctness. Reachability analysis for…
Piecewise regression is a versatile approach used in various disciplines to approximate complex functions from limited, potentially noisy data points. In control, piecewise regression is, e.g., used to approximate the optimal control law of…
This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. Moreover, we propose nonlinear discrete-time control barrier functions…
A novel control design approach for general nonlinear systems is presented in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. An efficient…
We consider a nonlinear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced…
We refine the bit complexity analysis of an algorithm for the computation of at least one point per connected component of a smooth real algebraic set, yielding exponential speedup (with respect to the number of variables) compared to prior…
Optimal control of bilinear systems has been a well-studied subject in the area of mathematical control. However, techniques for solving emerging optimal control problems involving an ensemble of structurally identical bilinear systems are…
In this paper we consider the problem of computing control invariant sets for linear controlled systems with constraints on the input and on the states. We focus in particular on the complexity of the computation of the N-step operator,…
The paper introduces a novel algorithm for computing the output admissible set of linear discrete-time systems subject to input saturation. The proposed method takes advantage of the piecewise-affine dynamics to propagate the output…
In this paper, we derive closed-form expressions for implicit controlled invariant sets for discrete-time controllable linear systems with measurable disturbances. In particular, a disturbance-reactive (or disturbance feedback) controller…
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observability) informs better estimator design. Among the research on…
In this paper, we consider the problem of computing robust controlled invariants for discrete-time monotone dynamical systems. We consider different classes of monotone systems depending on whether the sets of states, control inputs and…
This paper presents an abstraction-refinement method to synthesize control inputs for a discrete-time piecewise linear system. The controlled system behavior satisfies a finite-word linear-time temporal objective while incurring minimal…
Consistent editing of real images is a challenging task, as it requires performing non-rigid edits (e.g., changing postures) to the main objects in the input image without changing their identity or attributes. To guarantee consistent…
This article presents a scalable implementation of nonlinear Gramian-based control synthesis for control-affine systems, including a minimum energy control construction. These synthesis advances are achieved by addressing key computational…
In this paper, we propose a generalized successive approximation method (SAM), called invariantly admissible policy iteration (PI), for finding the solution to a class of input-affine nonlinear optimal control problems by iterations. Unlike…