Related papers: Safe Controller Synthesis Using Lyapunov-based Bar…
In this paper, we propose a compositional framework for the synthesis of safety controllers for networks of partially-observed discrete-time stochastic control systems (a.k.a. continuous-space POMDPs). Given an estimator, we utilize a…
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
This paper develops a framework for synthesizing safety controllers for discrete-time stochastic linear control systems (dt-SLS) operating under communication imperfections. The control unit is remote and communicates with the sensor and…
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…
We present a lazy version of multi-layered abstraction-based controller synthesis (ABCS) for continuous-time nonlinear dynamical systems against safety specifications. State-of-the-art multi-layered ABCS uses pre-computed finite-state…
This paper tackles the problem of generating safe exit controllers for continuous-time systems described by stochastic differential equations (SDEs). The primary aim is to develop controllers that maximize the lower bounds of the exit…
In this paper, we propose a compositional framework for the construction of control barrier certificates for large-scale stochastic switched systems accepting multiple control barrier certificates with some dwell-time conditions. The…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system. From a broader test and evaluation context, determination of…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…
We present a controller synthesis algorithm for a discrete time reach-avoid problem in the presence of adversaries. Our model of the adversary captures typical malicious attacks envisioned on cyber-physical systems such as sensor spoofing,…
This paper proposes a framework for secure and resilient controller design for positive systems against cyber-attacks. In particular, we consider a network-controlled system where an adversary injects false data into the actuator channels…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
Correct-by-construction synthesis is a cornerstone of the confluence of formal methods and control theory towards designing safety-critical systems. Instead of following the time-tested, albeit laborious (re)design-verify-validate loop,…
Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time,…
This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…
This paper presents a Lyapunov function based control strategy for networked control systems (NCS) affected by variable time delays and data loss. A special focus is put on the reduction of the computational complexity. A specific buffering…