相关论文: Online Verification of Control Parameter Calculati…

Tube-based model predictive control (MPC) is one of the principal robust control techniques for constrained linear systems affected by additive disturbances. While tube-based methods with online-computed tubes have been successfully applied…

Stabilizing unstable periodic orbits in a chaotic invariant set not only reveals information about its structure but also leads to various interesting applications. For the successful application of a chaos control scheme, convergence speed…

We present an approach to the verification of systems for whose description some elements - constants or functions - are underspecified and can be regarded as parameters, and, in particular, describe a method for automatically generating…

Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control…

Data-driven defect prediction has become increasingly important in software engineering process. Since it is not uncommon that data from a software project is insufficient for training a reliable defect prediction model, transfer learning…

In the age of autonomously driving vehicles, functionality and complexity of embedded systems are increasing tremendously. Safety aspects become more important and require such systems to operate with the highest possible level of fault…

Cyber-physical systems (CPS) such as autonomous cars, aircraft, and robots are often also safety-critical; thus it is imperative that they operate as intended with a high degree of certainty. Formal verification has been employed to verify…

Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is…

Model Predictive Control (MPC) is a method to control nonlinear systems with guaranteed stability and constraint satisfaction but suffers from high computation times. Approximate MPC (AMPC) with neural networks (NNs) has emerged to address…

This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties. The approach combines two ideas. The first is to construct a…

Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing…

State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform state constraints into conditions in the input space.…

An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…

A large number of different model checking approaches has been proposed during the last decade. The different approaches are applicable to different model types including untimed, timed, probabilistic and stochastic models. This paper…

During the project of a communication protocol, many design decisions influence the behavior of the protocol and its correctness. Formal specification and verification of the protocol may prove its correctness. In this paper, an example of…

Trajectory prediction models that can infer both finite future trajectories and their associated uncertainties of the target vehicles in an online setting (e.g., real-world application scenarios) is crucial for ensuring the safe and robust…

We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…

In Networked Control Systems (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. These issues may lead to unwanted control…

The large-scale deployment of automated vehicles on public roads has the potential to vastly change the transportation modalities of today's society. Although this pursuit has been initiated decades ago, there still exist open challenges in…

The aim of this paper is to explain how parameters adjustments can be integrated in the design or the control of automates of trading. Typically, we are interested by the online estimation of the market impacts generated by robots or single…