Related papers: Backstepping Reach-avoid Controller Synthesis for …
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
We take a divide and conquer approach to design controllers for reachability problems given large-scale linear systems with polyhedral constraints on states, controls, and disturbances. Such systems are made of small subsystems with coupled…
This paper is concerned with a compositional approach for the construction of control barrier certificates for large-scale interconnected stochastic systems while synthesizing hybrid controllers against high-level logic properties. Our…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
Despite the tremendous advances that have been made in the last decade on developing useful machine-learning applications, their wider adoption has been hindered by the lack of strong assurance guarantees that can be made about their…
Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert…
Ensuring string stability is critical for the safety and efficiency of large-scale interconnected systems. Although learning-based controllers (e.g., those based on reinforcement learning) have demonstrated strong performance in complex…
In this paper, we consider the problem of synthesizing low-complexity controllers for incrementally stable switched systems. For that purpose, we establish a new approximation result for the computation of symbolic models that are…
Complex real-world applications of cyber-physical systems give rise to the need for multi-objective controller synthesis, which concerns the problem of computing an optimal controller subject to multiple (possibly conflicting) criteria. The…
We introduce an automated, formal, counterexample-based approach to synthesise Barrier Certificates (BC) for the safety verification of continuous and hybrid dynamical models. The approach is underpinned by an inductive framework: this is…
This article surveys the System Level Synthesis framework, which presents a novel perspective on constrained robust and optimal controller synthesis for linear systems. We show how SLS shifts the controller synthesis task from the design of…
This paper focuses on synthesizing control policies for discrete-time stochastic control systems together with a lower bound on the probability that the systems satisfy the complex temporal properties. The desired properties of the system…
As we transition towards the deployment of data-driven controllers for black-box cyberphysical systems, complying with hard safety constraints becomes a primary concern. Two key aspects should be addressed when input-output data are…
Model-based reinforcement learning seeks to simultaneously learn the dynamics of an unknown stochastic environment and synthesise an optimal policy for acting in it. Ensuring the safety and robustness of sequential decisions made through a…
The paper addresses the issue of reliability of complex embedded control systems in the safety-critical environment. In this paper, we propose a novel approach to design controller that (i) guarantees the safety of nonlinear physical…
This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By extending the procedure of CBF backstepping, we propose…
Reach-avoid specifications are one of the most common tasks in autonomous aerial vehicle (UAV) applications. Despite the intensive research and development associated with control of aerial vehicles, generating feasible trajectories though…
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to…
This work is concerned with a formal approach for safety controller synthesis of stochastic control systems with both process and measurement noises while considering wireless communication networks between sensors, controllers, and…