相关论文: On the Control of Affine Systems with Safety Const…

This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of affine systems such that all the states in the interior of the…

This paper offers a direct data-driven approach for learning robust control barrier certificates (R-CBCs) and robust safety controllers (R-SCs) for discrete-time input-affine polynomial systems with unknown dynamics under…

We consider the decidability of state-to-state reachability in linear time-invariant control systems over discrete time. We analyse this problem with respect to the allowable control sets, which in general are assumed to be defined by…

Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict safety constraint satisfaction, like…

This paper addresses a fundamental and important question in control: under what conditions does there fail to exist a robust control policy that keeps the state of a constrained linear system within a target set, despite bounded…

For affine control systems with bounded control range the control sets, i.e., the maximal subsets of complete approximate controllability, are studied using spectral properties. For hyperbolic systems there is a unique control set with…

In this paper, we develop a method for learning a control policy guaranteed to satisfy an affine state constraint of high relative degree in closed loop with a black-box system. Previous reinforcement learning (RL) approaches to satisfy…

We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…

In this paper, we seek to learn a robot policy guaranteed to satisfy state constraints. To encourage constraint satisfaction, existing RL algorithms typically rely on Constrained Markov Decision Processes and discourage constraint…

This ArXiv paper is a supplement to [7] and contains proofs of preliminary claims omitted in [7] for lack of space. The paper deals with exploring a necessary condition for solvability of the Reach Control Problem (RCP) using affine…

This paper studies the problem for an affine hypersurface system to reach a polytopic target set starting from inside a polytope in the state space. We present an exhaustive solution which begins with a characterization of states which can…

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…

In this work we provide a computationally tractable procedure for designing affine control policies, applied to constrained, discrete-time, partially observable, linear systems subject to set bounded disturbances, stochastic noise and…

Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are often implemented through quadratic programs (QPs). In general, especially in the presence of multiple constraints, feasibility…

Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…

In this paper we consider the safety verification and safe controller synthesis problems for nonlinear control systems. The Control Barrier Certificates (CBC) approach is proposed as an extension to the Barrier certificates approach. Our…

Recent developments in data-driven control have revived interest in the behavioral approach to systems theory, where systems are defined as sets of trajectories rather than being described by a specific model or representation. However,…

This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…

For control-affine systems on non-compact manifolds, the notion of strong chain control sets is introduced and related to the strong chain transitivity of the associated control flows. Affine control systems on R^n are embedded into…

Safety for control systems is often posed as an invariance constraint; the system is said to be safe if state trajectories avoid some unsafe region of the statespace for all time. An assured controller is one that enforces safety online by…