Related papers: Backstepping Reach-avoid Controller Synthesis for …
In this paper, we investigate the problem of synthesizing controllers for temporal logic specifications under security constraint. We assume that there exists a passive intruder (eavesdropper) that can partially observe the behavior of the…
This paper introduces the notion of control closure certificates to synthesize controllers for discrete-time control systems against $\omega$-regular specifications. Typical functional approaches to synthesize controllers against…
Given the advances in reactive synthesis, it is a natural next step to consider more complex multi-process systems. Distributed synthesis, however, is not yet scalable. Compositional approaches can be a game changer. Here, the challenge is…
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…
We consider the problem of how to deploy a controller to a (networked) cyber-physical system (CPS). Controlling a CPS is an involved task, and synthesizing a controller to respect sensing, actuation, and communication constraints is only…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
Symbolic control is an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Symbolic control approaches usually assume that full-state…
To provide safety guarantees for learning-based control systems, recent work has developed formal verification methods to apply after training ends. However, if the trained policy does not meet the specifications, or there is conservatism…
Safety is the major consideration in controlling complex dynamical systems using reinforcement learning (RL), where the safety certificate can provide provable safety guarantee. A valid safety certificate is an energy function indicating…
Robust controller synthesis attracts reviving research interest, driven by the rise of learning-based systems where uncertainty and perturbation are ubiquitous. Facing an uncertain situation, a robustly stabilizing controller should…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…
Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…
Safety for control systems is often posed as an invariance constraint; the system is said to be safe if state trajectories avoid some unsafe region of the statespace for all time. An assured controller is one that enforces safety online by…
This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…
There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
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…
This paper employs correct-by-construction control synthesis, in particular controlled invariant set computations, for falsification. Our hypothesis is that if it is possible to compute a "large enough" controlled invariant set either for…
We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…