Related papers: Control Synthesis Along Uncertain Trajectories Usi…

Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…

This paper develops a novel control synthesis approach for a wide class of practical systems. The control action is derived by inserting a compensator device in the forward path of the system that is to be controlled. The compensator design…

We provide a method to design adaptive controllers for nonlinear systems using model predictive control (MPC). By combining a certainty-equivalent MPC formulation with least-mean-square parameter adaptation, we obtain an adaptive controller…

Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…

Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…

We present a novel robust control framework for continuous-time, perturbed nonlinear dynamical systems with uncertainty that depends nonlinearly on both the state and control inputs. Unlike conventional approaches that impose structural…

System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback…

Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…

This paper addresses the optimal control problem known as the Linear Quadratic Regulator in the case when the dynamics are unknown. We propose a multi-stage procedure, called Coarse-ID control, that estimates a model from a few experimental…

Successfully synthesizing controllers for complex dynamical systems and specifications often requires leveraging domain knowledge as well as making difficult computational or mathematical tradeoffs. This paper presents a flexible and…

In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is either to achieve dissipativity with respect to a given quadratic supply rate, or to…

We generalize the system level synthesis framework to systems defined by bounded causal linear operators, and use this parameterization to make connections between robust system level synthesis and classical results from the robust control…

We present an algorithm of control synthesis for nonlinear switched systems, based on an existing procedure of state-space bisection and made available for nonlinear systems with the help of validated simulation. The use of validated…

In this paper a new framework has been applied to the design of controllers which encompasses nonlinearity, hysteresis and arbitrary density functions of forward models and inverse controllers. Using mixture density networks, the…

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…

In this paper, we introduce a data-driven framework for synthesis of provably-correct controllers for general nonlinear switched systems under complex specifications. The focus is on systems with unknown disturbances whose effects on the…

Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF can be constructed. This paper draws connections between…

This paper studies the online control synthesis problem for uncertain discrete-time systems subject to signal temporal logic (STL) specifications. Different from existing techniques, this work proposes an approach based on STL, reachability…

In reactive controller synthesis, a number of implementations (controllers) are possible for a given specification because of the incomplete nature of specification. To choose the most desirable one from the various options, we need to…

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…