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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…
We consider the problem of controller design for linear time-invariant cyber-physical systems (CPSs) controlled via networks. Specifically, we adopt the set-up that a controller has already been designed to stabilize the plant. However, the…
We consider the problem of ensuring the safety of nonlinear control systems under adversarial signals. Using Lyapunov based reachability analysis, we first give sufficient conditions to assess safety, i.e., to guarantee that the states of…
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…
Networked control systems (NCS) are widely used in safety-critical applications, but they are often analyzed under the assumption of ideal communication channels. This work focuses on the synthesis of safety controllers for discrete-time…
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…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
In this paper, we provide a direct data-driven approach to synthesize safety controllers for unknown linear systems affected by unknown-but-bounded disturbances, in which identifying the unknown model is not required. First, we propose a…
We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…
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…
The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
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…
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 present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
This paper introduces an approach for synthesizing feasible safety indices to derive safe control laws under state-dependent control spaces. The problem, referred to as Safety Index Synthesis (SIS), is challenging because it requires the…
An emerging branch of control theory specialises in certificate learning, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a…
We present a new method for the automated synthesis of digital controllers with formal safety guarantees for systems with nonlinear dynamics, noisy output measurements, and stochastic disturbances. Our method derives digital controllers…
This work develops a theoretical framework for safety controller synthesis in discrete-time stochastic nonlinear polynomial systems subject to time-invariant delays (dt-SNPS-td). While safety analysis of stochastic systems using control…
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…