相关论文: Online Verification of Control Parameter Calculati…
We develop a novel form of differentiable predictive control (DPC) with safety and robustness guarantees based on control barrier functions. DPC is an unsupervised learning-based method for obtaining approximate solutions to explicit model…
Control Barrier Functions (CBFs) that provide formal safety guarantees have been widely used for safety-critical systems. However, it is non-trivial to design a CBF. Utilizing neural networks as CBFs has shown great success, but it…
Cyber-physical systems (CPS) can be found everywhere: smart homes, autonomous vehicles, aircrafts, healthcare, agriculture and industrial production lines. CPSs are often critical, as system failure can cause serious damage to property and…
Effective progress monitoring is crucial for the successful delivery of the construction project within the stipulated time and budget. Construction projects are often monitored irregularly through time-consuming physical site visits by…
Verifying specifications for large-scale control systems is of utmost importance, but can be hard in practice as most formal verification methods can not handle high-dimensional dynamics. Contract theory has been proposed as a modular…
This paper presents a model predictive control (MPC)-based online real-time adaptive control scheme for emergency voltage control in power systems. Despite tremendous success in various applications, real-time implementation of MPC for…
Learning-based control with safety guarantees usually requires real-time safety certification and modifications of possibly unsafe learning-based policies. The control barrier function (CBF) method uses a safety filter containing a…
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…
Self-triggered control, a well-documented technique for reducing the communication overhead while ensuring desired system performance, is gaining increasing popularity. However, existing methods for self-triggered control require explicit…
Input delays affect systems such as teleoperation and wirelessly autonomous connected vehicles, and may lead to safety violations. One promising way to ensure safety in the presence of delay is to employ control barrier functions (CBFs),…
Robustly compensating network constraints such as delays and packet dropouts in networked control systems is crucial for remotely controlling dynamical systems. This work proposes a novel prediction consistent method to cope with delays and…
When developing high-speed and high-precision CNC machine tools, subsystem coupling effects must be considered while designing the feed system to maximize its dynamic performance. Currently, the influence of changes in control parameters on…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
The control of complex systems is of critical importance in many branches of science, engineering, and industry. Controlling an unsteady fluid flow is particularly important, as flow control is a key enabler for technologies in energy…
We summarize the main results proved in recent work on the parameterized verification of safety properties for ad hoc network protocols. We consider a model in which the communication topology of a network is represented as a graph. Nodes…
Control barrier functions have shown great success in addressing control problems with safety guarantees. These methods usually find the next safe control input by solving an online quadratic programming problem. However, model uncertainty…
Increased connectivity and remote reprogrammability/reconfigurability features of embedded devices in current-day power systems (including interconnections between information technology -- IT -- and operational technology -- OT --…
This article introduces a fully automated verification technique that permits to analyze real-time systems described using a continuous notion of time and a mixture of operational (i.e., automata-based) and descriptive (i.e., logic-based)…
Discrete-time Control Barrier Functions (DTCBFs) have recently attracted interest for guaranteeing safety and synthesizing safe controllers for discrete-time dynamical systems. This paper addresses the open challenges of verifying candidate…
Stochastic Petri nets are commonly used for modeling distributed systems in order to study their performance and dependability. This paper proposes a realization of stochastic Petri nets in SystemC for modeling large embedded control…