Related papers: Safety Index Synthesis with State-dependent Contro…
Tunable input-to-state safety (TISSf) generalizes the input-to-state safety (ISSf) framework by incorporating a tuning function that regulates safety conservatism while preserving robustness against perturbations. Despite its flexibility,…
Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…
We consider the problem of designing finite-horizon safe controllers for a dynamical system for which no explicit analytical model exists and limited data only along a single trajectory of the system are available. Given samples of the…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
As the complexity of control systems increases, safety becomes an increasingly important property since safety violations can damage the plant and put the system operator in danger. When the system dynamics are unknown, safety-critical…
Automatic synthesis of hardware components from declarative specifications is an ambitious endeavor in computer aided design. Existing synthesis algorithms are often implemented with Binary Decision Diagrams (BDDs), inheriting their…
Interconnected systems such as power systems and chemical processes are often required to satisfy safety properties in the presence of faults and attacks. Verifying safety of these systems, however, is computationally challenging due to…
This paper presents the positive real analysis and synthesis for Networked Control Systems (NCS) in discrete time. Based on the definition of passivity, the sufficient condition of NCS is given by stochastic Lyapunov functional. The…
Controllers for dynamical systems that operate in safety-critical settings must account for stochastic disturbances. Such disturbances are often modeled as process noise in a dynamical system, and common assumptions are that the underlying…
We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system. From a broader test and evaluation context, determination of…
This paper presents a tractable framework for data-driven synthesis of robustly safe control laws. Given noisy experimental data and some priors about the structure of the system, the goal is to synthesize a state feedback law such that the…
Varying dynamics pose a fundamental difficulty when deploying safe control laws in the real world. Safety Index Synthesis (SIS) deeply relies on the system dynamics and once the dynamics change, the previously synthesized safety index…
This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite time horizon. We use stochastic barrier functions as a means to quantify the probability that a system exits a given safe region of the state…
In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…
Input-to-state stability (ISS) allows estimating the impact of inputs and initial conditions on both the intermediate values and the asymptotic bound on the solutions. ISS has unified the input-output and Lyapunov stability theories and is…
Reactive synthesis is a paradigm for automatically building correct-by-construction systems that interact with an unknown or adversarial environment. We study how to do reactive synthesis when part of the specification of the system is that…
This work presents a sum-of-squares (SOS) based framework to perform data-driven stabilization and robust control tasks on discrete-time linear systems where the full-state observations are corrupted by L-infinity bounded input,…
We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS)…