Related papers: Resilient and Effort-Optimal Controller Synthesis …
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is either to achieve dissipativity with respect to a given quadratic supply rate, or to…
This work explores the trade-off between the number of samples required to accurately build models of dynamical systems and the degradation of performance in various control objectives due to a coarse approximation. In particular, we show…
Learning to control an unknown dynamical system with respect to high-level temporal specifications is an important problem in control theory. We present the first regret-free online algorithm for learning a controller for linear temporal…
The complexity of modern control systems necessitates architectures that achieve high performance while ensuring robust stability, particularly for nonlinear systems. In this work, we tackle the challenge of designing output-feedback…
Synthesis is the automated construction of a system from its specification. The system has to satisfy its specification in all possible environments. Modern systems often interact with other systems, or agents. Many times these agents have…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
A standard approach to optimizing long-run running costs of discrete systems is based on minimizing the mean-payoff, i.e., the long-run average amount of resources ("energy") consumed per transition. However, this approach inherently…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
Controller synthesis is the process of constructing a correct system automatically from its specification. This often requires assumptions about the behaviour of the environment. It is difficult for the designer to identify the assumptions…
Resilience to damage, component degradation, and adversarial action is a critical consideration in design of autonomous systems. In addition to designing strategies that seek to prevent such negative events, it is vital that an autonomous…
Controller synthesis for hybrid systems that satisfy temporal specifications expressing various system properties is a challenging problem that has drawn the attention of many researchers. However, making the assumption that such temporal…
This paper studies the control of safety-critical dynamical systems in the presence of adversarial disturbances. We seek to synthesize state-feedback controllers to minimize a cost incurred due to the disturbance, while respecting a safety…
In this paper, we address two minimal controllability problems, where the goal is to determine a minimal subset of state variables in a linear time-invariant system to be actuated to ensure controllability under additional constraints.…
Motivated by the design question of additional fuel needed to complete a task in an uncertain environment, this paper introduces metrics to quantify the maximal additional energy used by a control system in the presence of bounded…
We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…
Incorporating renewable energy sources into modern power grids has significantly decreased system inertia, which has raised concerns about power system vulnerability to disturbances and frequency instability. The conventional methods for…
Reactive synthesis is the process of using temporal logic specifications in LTL to generate correct controllers, but its use has been restricted to Boolean specifications. Recently, a Boolean abstraction technique allows to translate LTL T…
Though switched dynamical systems have shown great utility in modeling a variety of physical phenomena, the construction of an optimal control of such systems has proven difficult since it demands some type of optimal mode scheduling. In…
This paper presents a synthesis method for robust, regret optimal control. The plant is modeled in discrete-time by an uncertain linear time-invariant (LTI) system. An optimal non-causal controller is constructed using the nominal plant…
We present stability conditions for deterministic time-varying nonlinear discrete-time systems whose inputs aim to minimize an infinite-horizon time-dependent cost. Global asymptotic and exponential stability properties for general…