Related papers: Secondary Safety Control for Systems with Sector B…

In this work, we study verification and synthesis problems for safety specifications over unknown discrete-time stochastic systems. When a model of the system is available, barrier certificates have been successfully applied for ensuring…

In this paper, we propose a system-level approach for verifying the safety of neural network controlled systems, combining a continuous-time physical system with a discrete-time neural network based controller. We assume a generic model for…

Stability certification and identifying a safe and stabilizing initial set are two important concerns in ensuring operational safety, stability, and robustness of dynamical systems. With the advent of machine-learning tools, these issues…

Stability and stabilization for linear state feedback control systems in the presence of sensor quantization are studied. As the closed-loop system is described by a discontinuous right-hand side differential equation, Krasovskii solutions…

In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…

The verification and validation of cyber-physical systems is known to be a difficult problem due to the different modeling abstractions used for control components and for software components. A recent trend to address this difficulty is to…

Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…

Complementarity problems, a class of mathematical optimization problems with orthogonality constraints, are widely used in many robotics tasks, such as locomotion and manipulation, due to their ability to model non-smooth phenomena (e.g.,…

Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at the cost of reduced transparency and lack of guarantees on the safety or…

Software implementations of controllers for physical systems are at the core of many embedded systems. The design of controllers uses the theory of dynamical systems to construct a mathematical control law that ensures that the controlled…

We consider the problem of securing a given control loop implementation of a cyber-physical system (CPS) in the presence of Man-in-the-Middle attacks on data exchange between plant and controller over a compromised network. To this end,…

We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…

Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…

This paper introduces the safety controller architecture as a runtime assurance mechanism for system specifications expressed as safety properties in Linear Temporal Logic (LTL). The safety controller has three fundamental components: a…

Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…

This work presents several improvements to the closed-loop stability verification framework using semialgebraic sets and convex semidefinite programming to examine neural-network-based control systems regulating nonlinear dynamical systems.…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

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…

In this work, we propose a compositional scheme for the safety controller synthesis of interconnected discrete-time stochastic systems with Markovian switching signals. Our proposed approach is based on a notion of so-called control storage…

A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An…