Related papers: Robust STL Control Synthesis under Maximal Disturb…
Autonomous robotic systems require advanced control frameworks to achieve complex temporal objectives that extend beyond conventional stability and trajectory tracking. Signal Temporal Logic (STL) provides a formal framework for specifying…
We consider distributionally robust optimal control of stochastic linear systems under signal temporal logic (STL) chance constraints when the disturbance distribution is unknown. By assuming that the underlying predicate functions are…
In this paper, we study the robustness of safety properties of a linear dynamical system with respect to model uncertainties. Our paper involves three parts. In the first part, we provide symbolic (analytical) and numerical (representation…
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…
The complexity of modern control systems necessitates architectures that achieve high performance while ensuring robust stability, particularly for nonlinear systems. In this work, we tackle the challenge of designing output-feedback…
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…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…
In this work, we address the issue of controller synthesis for a control-affine nonlinear system to meet prescribed time reach-avoid-stay specifications. Our goal is to improve upon previous methods based on spatiotemporal tubes (STTs) by…
End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…
This paper addresses finite-time horizon optimal control of single-loop networked control systems with stochastically modeled communication channel and disturbances. To cope with the uncertainties, an optimization-based control scheme is…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
We propose a unified framework for robustly and adaptively stabilizing large-scale networked uncertain Markovian jump linear systems (MJLS) under external disturbances and mode switches that can change the network's topology. Adaptation is…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
The performance of model-based control techniques strongly depends on the quality of the employed dynamics model. If strong guarantees are desired, it is therefore common to robustly treat all possible sources of uncertainty, such as model…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
Dynamic control via optimized, piecewise-constant pulses is a common paradigm for open-loop control to implement quantum gates. While numerous methods exist for the synthesis of such controls, there are many open questions regarding the…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…