Related papers: Contract-Based Design for Hybrid Dynamical Systems…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…
Stability guarantees are crucial when ensuring a fully autonomous robot does not take undesirable or potentially harmful actions. Unfortunately, global stability guarantees are hard to provide in dynamical systems learned from data,…
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…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
We consider the problem of coordinating a collection of switched subsystems under both local and global constraints for safe operation of the system. Although an invariant set can be leveraged to construct a safety-guaranteed controller for…
For a discrete-time linear system, we use data from a single open-loop experiment to design directly a feedback controller enforcing that a given (polyhedral) set of the state is invariant and given (polyhedral) constraints on the control…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…
Static type systems are usually not sufficient to express all requirements on function calls. Hence, contracts with pre- and postconditions can be used to express more complex constraints on operations. Contracts can be checked at run time…
The paper proposes a method for the correct by design coordination of autonomous driving systems (ADS). It builds on previous results on collision avoidance policies and the modeling of ADS by combining descriptions of their static…
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…
We study robust $H_\infty$ coherent-classical estimation for a class of physically realizable linear quantum systems with parameter uncertainties. Such a robust coherent-classical estimator, with or without coherent feedback, can yield…
This paper proposes a general framework for constructing feedback controllers that drive complex dynamical systems to "efficient" steady-state (or slowly varying) operating points. Efficiency is encoded using generalized equations which can…
Model-based testing is a promising technology for black-box software and hardware testing, in which test cases are generated automatically from high-level specifications. Nowadays, systems typically consist of multiple interacting…
The verification of cyber-physical systems operating in a safety-critical environment requires formal system models. The validity of the verification hinges on the precision of the model: possible behavior not captured in the model can…
Understanding the stability of integrability in many-body quantum systems is key to controlling dynamics and predicting thermalization. While the breakdown of integrability in short-range interacting systems is well understood, the role of…
We present a consistent formalism to describe the dynamics of hybrid systems with mixed classical and quantum degrees of freedom. The probability function of the system, which, in general, will be a combination of the classical distribution…
Dynamical decoupling techniques constitute an integral part of many quantum sensing platforms, often leading to orders-of-magnitude improvements in coherence time and sensitivity. Most AC sensing sequences involve a periodic echo-like…
Coherent feedback is a non-measurement based, hence a back-action free, method of control for quantum systems. A typical application of this control scheme is squeezing enhancement, a purely non-classical effect in quantum optics. In this…
The intrinsic multivaluedness of interaction process, revealed in Part I of this series of papers, is interpreted as the origin of the true dynamical (in particular, quantum) chaos. The latter is causally deduced as unceasing series of…