Related papers: Control Closure Certificates
This paper considers a disturbance attenuation problem for a linear discrete time invariant system under random disturbances with imprecisely known probability distributions. The statistical uncertainty is measured in terms of relative…
Digital controllers have several advantages with respect to their flexibility and design's simplicity. However, they are subject to problems that are not faced by analog controllers. In particular, these problems are related to the finite…
In this paper, we address robust static anti-windup compensator design and performance analysis for saturated linear closed loops in the presence of nonlinear probabilistic parameter uncertainties via randomized techniques. The proposed…
Automated certificate authorities (CAs) have expanded the reach of public key infrastructure on the web and for software signing. The certificates that these CAs issue attest to proof of control of some digital identity. Some of these…
Constraint Programming (CP) has proved an effective paradigm to model and solve difficult combinatorial satisfaction and optimisation problems from disparate domains. Many such problems arising from the commercial world are permeated by…
This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…
Arrays are ubiquitous in the context of software verification. However, effective reasoning over arrays is still rare in CP, as local reasoning is dramatically ill-conditioned for constraints over arrays. In this paper, we propose an…
This paper studies regularity properties of optimization-based controllers, which are obtained by solving optimization problems where the parameter is the system state and the optimization variable is the input to the system. Under a wide…
In this paper, we provide a direct data-driven approach to synthesize safety controllers for unknown linear systems affected by unknown-but-bounded disturbances, in which identifying the unknown model is not required. First, we propose a…
Enforcing safety for dynamical systems is challenging, since it requires constraint satisfaction along trajectory predictions. Equivalent control constraints can be computed in the form of sets that enforce positive invariance, and can thus…
We study automated test generation for verifying discrete decision-making modules in autonomous systems. We utilize linear temporal logic to encode the requirements on the system under test in the system specification and the behavior that…
Control systems often must satisfy strict safety requirements over an extended operating lifetime. Control Barrier Functions (CBFs) are a promising recent approach to constructing simple and safe control policies. This paper proposes a…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
Executing a Golog program on an actual robot typically requires additional steps to account for hardware or software details of the robot platform, which can be formulated as constraints on the program. Such constraints are often temporal,…
Neural Lyapunov and barrier certificates have recently been used as powerful tools for verifying the safety and stability properties of deep reinforcement learning (RL) controllers. However, existing methods offer guarantees only under…
Several signal recovery tasks can be relaxed into semidefinite programs with rank-one minimizers. A common technique for proving these programs succeed is to construct a dual certificate. Unfortunately, dual certificates may not exist under…
This paper presents an abstraction-refinement method to synthesize control inputs for a discrete-time piecewise linear system. The controlled system behavior satisfies a finite-word linear-time temporal objective while incurring minimal…
This paper presents the verification of control systems implemented in Simulink. The goal is to ensure that high-level requirements on control performance, like stability, are satisfied by the Simulink diagram. A two stage process is…
This paper addresses the problem of control synthesis for nonlinear optimal control problems in the presence of state and input constraints. The presented approach relies upon transforming the given problem into an infinite-dimensional…
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…