Related papers: Secure-by-Construction Synthesis for Control Syste…
Correct-by-construction synthesis is a cornerstone of the confluence of formal methods and control theory towards designing safety-critical systems. Instead of following the time-tested, albeit laborious (re)design-verify-validate loop,…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
The control Barrier function approach has been widely used for safe controller synthesis. By solving an online convex quadratic programming problem, an optimal safe controller can be synthesized implicitly in state-space. Since the solution…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…
We provide a novel approach to synthesize controllers for nonlinear continuous dynamical systems with control against safety properties. The controllers are based on neural networks (NNs). To certify the safety property we utilize barrier…
Opacity is a confidentiality property that characterizes the non-disclosure of specified secret information of a system to an outside observer. In this paper, we consider the enforcement of opacity within the discrete-event system formalism…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
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…
In this paper we consider the safety verification and safe controller synthesis problems for nonlinear control systems. The Control Barrier Certificates (CBC) approach is proposed as an extension to the Barrier certificates approach. Our…
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…
In this work, we propose a compositional framework for the construction of control barrier functions for networks of continuous-time stochastic hybrid systems enforcing complex logic specifications expressed by finite-state automata. The…
Modern cyber-physical systems often have a two-layered design, where the primary controller is AI-enabled or an analytical controller optimising some specific cost function. If the resulting control action is perceived as unsafe, a…
In discrete-event system control, the worst-case time complexity for computing a system's observer is exponential in the number of that system's states. This results in practical difficulties since some problems require calculating multiple…
Despite significant advancement in technology, communication and computational failures are still prevalent in safety-critical engineering applications. Often, networked control systems experience packet dropouts, leading to open-loop…
This paper focuses on the controller synthesis for unknown, nonlinear systems while ensuring safety constraints. Our approach consists of two steps, a learning step that uses Gaussian processes and a controller synthesis step that is based…
Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a…