Related papers: Approximate Simulation-based Hierarchical Control …
In this paper, we establish a relation between approximate-simulation-based hierarchical control (ASHC) and moment matching techniques, and build a conceptual bridge between these two frameworks. To this end, we study the two key…
Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an approximate simulation relation between the full "concrete"…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
The paper introduces a Data-driven Hierarchical Control (DHC) structure to improve performance of systems operating under the effect of system and/or environment uncertainty. The proposed hierarchical approach consists of two parts: 1) A…
This paper introduces a general approximate alternating simulation relation (\emph{$\varepsilon$-gAAS relation}) for continuous-time systems, which relaxes existing simulation relations to tolerate larger mismatches between abstract and…
We consider a nonlinear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced…
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…
This paper studies the optimal control problem for discrete-time nonlinear systems and an approximate dynamic programming-based Model Predictive Control (MPC) scheme is proposed for minimizing a quadratic performance measure. In the…
Discrete abstractions of continuous and hybrid systems have recently been the topic of great interest from both the control systems and the computer science communities, because they provide a sound mathematical framework for analysing and…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
This paper studies the construction of dynamic symbolic abstractions for nonlinear control systems via dynamic quantization. Since computational complexity is a fundamental problem in the use of discrete abstractions, a dynamic quantizer…
This article presents an identification methodology to capture general relationships, with application to piecewise nonlinear approximations of model predictive control for constrained (non)linear systems. The mathematical formulation…
This paper addresses the challenges of embedding common droop control characteristics in ac-dc power system steady-state simulation and optimization problems. We propose a smooth approximation methodology to construct differentiable…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
We present a 'calculator' for constructing a homogeneous approximation of nonlinear control systems, which is based on the algebraic approach developed by the authors in their previous papers. This approach mainly uses linear algebraic and…
We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifications. We first create a low-dimensional continuous…
In this paper, near optimal tracking of a class of nonlinear systems is addressed. Adaptive (approximate) dynamic programming approach is used to calculate the optimal control in closed form. ADP (Adaptive (approximate) dynamic programming)…
Piecewise affine (PWA) systems are widely applied in many practical cases such as the control of nonlinear systems and hybrid dynamics. However, most of the existing PWA control methods have poor scalability with respect to the number of…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Finite abstractions (a.k.a. symbolic models) offer an effective scheme for approximating the complex continuous-space systems with simpler models in the discrete-space domain. A crucial aspect, however, is to establish a formal relation…