Related papers: Control Closure Certificates
Shifting away from the traditional mass production approach, the process industry is moving towards more agile, cost-effective and dynamic process operation (next-generation smart plants). This warrants the development of control systems…
Flexible manufacturing has been the trend in the area of the modern chemical process nowadays. One of the essential characteristics of flexible manufacturing is to track time-varying target trajectories (e.g. diversity and quantity of…
A barrier certificate is an inductive invariant function which can be used for the safety verification of a hybrid system. Safety verification based on barrier certificate has the benefit of avoiding explicit computation of the exact…
In this work, we propose a compositional framework for the construction of control barrier functions for networks of continuous-time stochastic hybrid systems enforcing complex logic specifications expressed by finite-state automata. The…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
We study controllability and constructive synthesis for control-affine systems. We introduce trajectory-dependent Gramian maps that extend the linear time-varying Gramian and yield explicit fixed-point synthesis maps. On feasible coercivity…
There is an increasing demand for controller design techniques capable of addressing the complex requirements of todays embedded applications. This demand has sparked the interest in symbolic control where lower complexity models of control…
In this paper, a self-triggered control scheme for constrained discrete-time control systems is presented. The key idea of our approach is to construct a transition system or a graph structure from a collection of polyhedral sets, which are…
This primary purpose of this paper is to succinctly state a number of verifiable and tractable sufficient conditions under which a particular class of conservative signal processing structures may be readily used to solve a companion class…
Hyperproperties are system properties that require quantification over multiple execution traces of a system. Hyperproperties can express several specifications of interest for cyber-physical systems--such as opacity, robustness, and…
Engineering processes for safety-critical systems describe the steps and sequence that guide engineers from refining user requirements into executable code, as well as producing the artifacts, traces, and evidence that the resulting system…
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…
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,…
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…
This paper presents a safety-critical control framework to maintain bounded lateral motions for vehicles braking on asymmetric surfaces. We synthesize a brake controller that assists drivers and guarantees safety against excessive lateral…
Despite significant advancement in technology, communication and computational failures are still prevalent in safety-critical engineering applications. Often, networked control systems experience packet dropouts, leading to open-loop…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
There has been significant recent interest in devising verification techniques for learning-enabled controllers (LECs) that manage safety-critical systems. Given the opacity and lack of interpretability of the neural policies that govern…
A common approach in robotics is to learn tasks by generalizing from special cases given by a so-called demonstrator. In this paper, we apply this paradigm and present an algorithm that uses a demonstrator (typically given by a trajectory…
We introduce a novel approach for safe control design based on the density function. A control density function (CDF) is introduced to synthesize a safe controller for a nonlinear dynamic system. The CDF can be viewed as a dual to the…