Related papers: Safety Index Synthesis with State-dependent Contro…
This paper investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization…
Despite the tremendous advances that have been made in the last decade on developing useful machine-learning applications, their wider adoption has been hindered by the lack of strong assurance guarantees that can be made about their…
This paper presents a method for the synthesis of negative imaginary closed-loop systems with a prescribed degree of stability under the assumption of full state feedback. The approach extends existing work by using a perturbation method to…
Control applications present hard operational constraints. A violation of these can result in unsafe behavior. This paper introduces Safe Interactive Model Based Learning (SiMBL), a framework to refine an existing controller and a system…
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…
In a pedagogical but exhaustive manner, this survey reviews the main results on input-to-state stability (ISS) for infinite-dimensional systems. This property allows estimating the impact of inputs and initial conditions on both the…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
Synthesis of program parts is very useful for concurrent systems. However, most synthesis approaches do not support common design tasks, like modifying a single process without having to re-synthesize or verify the whole system.…
A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditional distributed optimal control methods do not scale…
Distributed linear control design is crucial for large-scale cyber-physical systems. It is generally desirable to both impose information exchange (communication) constraints on the distributed controller, and to limit the propagation of…
This paper presents a novel approach for steering the state of a stochastic control-affine system to a desired target within a finite time horizon. Our method leverages the time-reversal of diffusion processes to construct the required…
Given the increasing adoption of modern AI-enabled control systems, ensuring their safety and reliability has become a critical task in software testing. One prevalent approach to testing control systems is falsification, which aims to find…
This paper deals with the establishment of Input-to-State Stability (ISS) estimates for infinite dimensional systems with respect to both boundary and distributed disturbances. First, a new approach is developed for the establishment of ISS…
In the process industry, the configuration of Safety Instrumented Systems (SIS) must comply with a defined set of safety requirements, typically documented in the Safety Requirements Specification (SRS). The functional safety standard IEC…
Safety is one of the biggest concerns to applying reinforcement learning (RL) to the physical world. In its core part, it is challenging to ensure RL agents persistently satisfy a hard state constraint without white-box or black-box…
Supervisory control of discrete-event systems with a global safety specification and with only local supervisors is a difficult problem. For global specifications the equivalent conditions for local control synthesis to equal global control…
The Wendelstein 7-X (W7-X) Safety Instrumented System (SIS) ensures personal safety and investment protection. The development and implementation of the SIS are based on the international safety standard for the process industry sector, IEC…
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 work, we investigate the problem of synthesizing property-enforcing supervisors for partially-observed discrete-event systems (DES). Unlike most existing approaches, where the enforced property depends solely on the executed…
Safety of stochastic dynamic systems in environments with dynamic obstacles is studied in this paper through the lens of stochastic barrier functions. We introduce both time-invariant and time-varying barrier certificates for discrete-time,…