Related papers: Safe Controller Synthesis Using Lyapunov-based Bar…
This work is concerned with a formal approach for safety controller synthesis of stochastic control systems with both process and measurement noises while considering wireless communication networks between sensors, controllers, and…
This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the…
We present Barrier-based Simplex (Bb-Simplex), a new, provably correct design for runtime assurance of continuous dynamical systems. Bb-Simplex is centered around the Simplex control architecture, which consists of a high-performance…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from…
Designing controllers with provable formal guarantees has become an urgent requirement for cyber-physical systems in safety-critical scenarios. Beyond addressing scalability in high-dimensional implementations, controller synthesis…
In this paper, we consider the problem of controller design using approximately bisimilar abstractions with an emphasis on safety and reachability specifications. We propose abstraction-based approaches to solve both classes of problems. We…
Networked control systems (NCS) are widely used in safety-critical applications, but they are often analyzed under the assumption of ideal communication channels. This work focuses on the synthesis of safety controllers for discrete-time…
We consider the problem of controller design for linear time-invariant cyber-physical systems (CPSs) controlled via networks. Specifically, we adopt the set-up that a controller has already been designed to stabilize the plant. However, the…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
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…
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) safety filters are point-wise and may…
The control Barrier function approach has been widely used for safe controller synthesis. By solving an online convex quadratic programming problem, an optimal safe controller can be synthesized implicitly in state-space. Since the solution…
In human-robot collaboration (HRC), software-based automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly…
Cyber-physical systems are prone to sensor attacks that can compromise safety. A common approach to synthesizing controllers robust to sensor attacks is secure state reconstruction (SSR) -- but this is computationally expensive, hindering…
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,…
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…
Synthesizing safety controllers for general nonlinear systems is a highly challenging task, particularly when the system models are unknown, and input constraints are present. While some recent efforts have explored data-driven safety…