相关论文: Exact Safety Verification of Hybrid Systems Using …

In this paper, we address the problem of safety verification of nonlinear hybrid systems. A hybrid symbolic-numeric method is presented to compute exact inequality invariants of hybrid systems efficiently. Some numerical invariants of a…

In this paper, we address the problem of safety verification of interval hybrid systems in which the coefficients are intervals instead of explicit numbers. A hybrid symbolic-numeric method, based on SOS relaxation and interval arithmetic…

Safety is closely related to set invariance for dynamical systems. However, synthesizing a safe invariant set and at the same time synthesizing the associated safe controller still remains challenging. In this note we introduce a simple…

In this paper, we propose an approach to automatically compute invariant clusters for semialgebraic hybrid systems. An invariant cluster for an ordinary differential equation (ODE) is a multivariate polynomial invariant g(u,x)=0, parametric…

In this paper, we present a computational approach to certify almost sure reachability for discrete-time polynomial stochastic systems by turning drift--variant criteria into sum-of-squares (SOS) programs solved with standard semidefinite…

For the design and implementation of engineering systems, performing model-based analysis can disclose potential safety issues at an early stage. The analysis of hybrid system models is in general difficult due to the intrinsic complexity…

The dynamics of many systems from physics, economics, chemistry, and biology can be modelled through polynomial functions. In this paper, we provide a computational means to find positively invariant sets of polynomial dynamical systems by…

We study possibilities for automated invariant generation in parametric systems. We use (a refinement of) an algorithm for symbol elimination in theory extensions to devise a method for iteratively strengthening certain classes of safety…

Hybrid systems exhibit phenomena which do not occur in systems with continuous vector fields. One such phenomenon - Zeno executions - is characterized by an infinite number of discrete events or transitions occurring over a finite interval…

The goal of this paper is to present a systematic method to compute reference dependent positively invariant sets for systems subject to constraints. To this end, we first characterize these sets as level sets of reference dependent…

Managing uncertainty is a fundamental and critical issue in spacecraft entry guidance. This paper presents a novel approach for uncertainty propagation during entry, descent and landing that relies on a new sum-of-squares robust…

This paper addresses the problem of checking invariant properties for a large class of symbolic transition systems, defined by a combination of SMT theories and quantifiers. State variables can be functions from an uninterpreted sort…

Control systems often need to satisfy strict safety requirements. Safety index provides a handy way to evaluate the safety level of the system and derive the resulting safe control policies. However, designing safety index functions under…

Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works, we demonstrate that SOS can synthesize dynamic controllers with bounded suboptimal…

We consider the problem of designing an invariant set using only a finite set of input-state data collected from an unknown polynomial system in continuous time. We consider noisy data, i.e., corrupted by an unknown-but-bounded disturbance.…

We consider the problem of ensuring the safety of nonlinear control systems under adversarial signals. Using Lyapunov based reachability analysis, we first give sufficient conditions to assess safety, i.e., to guarantee that the states of…

This paper presents a general form of integral sliding mode manifold, and proposes an algorithmic approach based on Sum of Squares (SOS) programming to design generalized integral sliding mode manifold and controller for nonlinear systems…

This work presents a sum-of-squares (SOS) based framework to perform data-driven stabilization and robust control tasks on discrete-time linear systems where the full-state observations are corrupted by L-infinity bounded input,…

As quantum computing becomes an emerging reality, designing efficient quantum programming capabilities is becoming more and more important. Particularly, the debugging and validation of quantum programs is of paramount importance, as these…

Safety guarantees are valuable in the control of walking robots, as falling can be both dangerous and costly. Unfortunately, set-based tools for generating safety guarantees (such as sums-of-squares optimization) are typically restricted to…