相关论文: Scalable Safety-Preserving Robust Control Synthesi…

Many safety-critical control systems must operate under latent uncertainty that sensors cannot directly resolve at decision time. Such uncertainty, arising from unknown physical properties, exogenous disturbances, or unobserved environment…

In this paper, we propose a novel approach for computing robust backward reachable sets from noisy data for unknown constrained linear systems subject to bounded disturbances. In particular, we develop an algorithm for obtaining zonotopic…

There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…

We present a direct data-driven approach to synthesize robust control invariant (RCI) sets and their associated gain-scheduled feedback control laws for linear parameter-varying (LPV) systems subjected to bounded disturbances. A data-set…

Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from signal temporal logic (STL)…

Attacks on Industrial Control Systems (ICS) can lead to significant physical damage. While offline safety and security assessments can provide insight into vulnerable system components, they may not account for stealthy attacks designed to…

We present a data-driven method to synthesize robust control invariant (RCI) sets for linear parameter-varying (LPV) systems subject to unknown but bounded disturbances. A finite-length data set consisting of state, input, and scheduling…

We consider the problem of coordinating a collection of switched subsystems under both local and global constraints for safe operation of the system. Although an invariant set can be leveraged to construct a safety-guaranteed controller for…

This paper presents an efficient algorithm for robust network reconstruction of Linear Time-Invariant (LTI) systems in the presence of noise, estimation errors and unmodelled nonlinearities. The method here builds on previous work on robust…

This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…

Recently developed neuromorphic vision sensors have become promising candidates for agile and autonomous robotic applications primarily due to, in particular, their high temporal resolution and low latency. Each pixel of this sensor…

We develop a new numerical method for approximating the infinite time reachable set of strictly stable linear control systems. By solving a linear program with a constraint that incorporates the system dynamics, we compute a polytope with…

The performance of model-based control techniques strongly depends on the quality of the employed dynamics model. If strong guarantees are desired, it is therefore common to robustly treat all possible sources of uncertainty, such as model…

A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…

We present an approach to identify a quasi Linear Parameter Varying (qLPV) model of a plant, with the qLPV model guaranteed to admit a robust control invariant (RCI) set. It builds upon the concurrent synthesis framework presented in [1],…

This paper focuses on synthesizing control policies for discrete-time stochastic control systems together with a lower bound on the probability that the systems satisfy the complex temporal properties. The desired properties of the system…

We consider the problem of controller design for linear time-invariant cyber-physical systems (CPSs) controlled via networks. Specifically, we adopt the set-up that a controller has already been designed to stabilize the plant. However, the…

Real-time measurements of the scheduling parameter of linear parameter-varying (LPV) systems enables the synthesis of robust control invariant (RCI) sets and parameter dependent controllers inducing invariance. We present a method to…

This paper presents a new robust data-driven predictive control scheme for unknown linear time-invariant systems by using input-state-output or input-output data based on whether the state is measurable. To remove the need for the…

Solving safety-critical control problem has widely adopted the Control Barrier Function (CBF) method. However, the existence of a CBF is only a sufficient condition for system safety. The recently proposed Taylor-Lagrange Control (TLC)…