Related papers: Safety Controller Synthesis for Stochastic Network…
We develop a data-driven framework for the synthesis of robust Krasovskii control barrier certificates (RK-CBC) and corresponding robust safety controllers (R-SC) for discrete-time input-affine uncertain polynomial systems with unknown…
A stochastic Model Predictive Control strategy for control systems with communication networks between the sensor node and the controller and between the controller and the actuator node is proposed. Data packets are subject to random…
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL…
This paper investigates the problem of distributed nonblocking supervisory control for timed discrete-event systems (DESs). The distributed supervisors communicate with each other over networks subject to nondeterministic communication…
This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with absolute position sensors switches among a set of followers…
We present a new method for the automated synthesis of digital controllers with formal safety guarantees for systems with nonlinear dynamics, noisy output measurements, and stochastic disturbances. Our method derives digital controllers…
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…
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…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
New methods are developed for the stabilization of a linear system with general time-varying distributed delays existing at the system's states, inputs and outputs. In contrast to most existing literature where the function of time-varying…
In this paper we develop novel results on self triggering control of nonlinear systems, subject to perturbations and actuation delays. First, considering an unperturbed nonlinear system with bounded actuation delays, we provide conditions…
Design of optimal distributed linear feedback controllers to achieve a desired aggregate behavior, while simultaneously satisfying state and input constraints, is a challenging but important problem in many applications. System level…
Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently synthesized offline, easily implementable online, and…
The wide availability of data coupled with the computational advances in artificial intelligence and machine learning promise to enable many future technologies such as autonomous driving. While there has been a variety of successful…
Formal control of cyber-physical systems allows for synthesis of control strategies from rich specifications such as temporal logics. However, the classes of systems that the formal approaches can be applied to is limited due to the…
We consider the optimal control design problem for discrete-time LTI systems with state feedback, when the actuation signal is subject to unmeasurable switching propagation delays, due to e.g. the routing in a multi-hop communication…
Smart grid is an energy network that integrates advanced power equipment, communication technology and control technology. It can transmit two-way power and data among all components of the grid at the same time. The existing smart grid…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
In this work, we propose a compositional scheme based on small-gain reasoning to synthesize safety controllers for interconnected stochastic hybrid systems. In our proposed setting, we first offer an augmented scheme that characterizes each…