Related papers: Latent Representations for Control Design with Pro…

Formal control synthesis approaches over stochastic systems have received significant attention in the past few years, in view of their ability to provide provably correct controllers for complex logical specifications in an automated…

This paper develops a neural network based control framework that ensures system safety and input-to-state stability (ISS) for general nonlinear switched systems with unknown dynamics. Leveraging the concept of dwell time, we derive…

In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…

We provide general methods for explicitly constructing strict Lyapunov functions for fully nonlinear slowly time-varying systems. Our results apply to cases where the given dynamics and corresponding frozen dynamics are not necessarily…

Adaptive controllers are designed to synchronize two different chaotic systems with uncertainties, including unknown parameters, internal and external perturbations. Lyapunov stability theory is applied to prove that under some conditions…

The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…

Robots are used increasingly often in safety-critical scenarios, such as robotic surgery or human-robot interaction. To ensure stringent performance criteria, formal controller synthesis is a promising direction to guarantee that robots…

We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets.…

This paper addresses the problem of data-driven computation of controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. With a focus on continuous-space stochastic…

Neural-network-based controllers (NNCs) can represent complex, highly nonlinear control laws, but verifying the closed-loop stability of dynamical systems using them remains challenging. This work presents contributions to a…

Barrier Lyapunov functions are suitable for learning control designs, due to their feature of finite duration tracking. This paper presents fractional barrier Lyapunov functions, provided and compared with the conventional ones in the…

We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…

We propose a sampling-based approach to learn Lyapunov functions for a class of discrete-time autonomous hybrid systems that admit a mixed-integer representation. Such systems include autonomous piecewise affine systems, closed-loop…

In this paper, we present a framework for Stability Analysis of Systems of Coupled Linear Partial-Differential Equations. The class of PDE systems considered in this paper includes parabolic, elliptic and hyperbolic systems with Dirichelet,…

Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…

Continual learning systems are increasingly deployed in environments where retraining or reset is infeasible, yet many approaches emphasize task performance rather than the evolution of internal representations over time. In this work, we…

Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…

This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we introduce two different metrics to compare the…

The finite-time control problem of quantum systems is investigated in this paper. We first define finite-time stability and present a finite-time Lyapunov stability criterion for finite-dimensional quantum systems in coherence vector…

As the proportion of converter-interfaced renewable energy resources in the power system is increasing, the strength of the power grid at the connection point of wind turbine generators (WTGs) is gradually weakening. Existing research has…