相关论文: Continuous Abstraction of Nonlinear Systems using …

The Sum-of-Squares (SoS) hierarchy of semidefinite programs is a powerful algorithmic paradigm which captures state-of-the-art algorithmic guarantees for a wide array of problems. In the average case setting, SoS lower bounds provide strong…

This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…

Flexible manufacturing has been the trend in the area of the modern chemical process nowadays. One of the essential characteristics of flexible manufacturing is to track time-varying target trajectories (e.g. diversity and quantity of…

We develop new tools in the theory of nonlinear random matrices and apply them to study the performance of the Sum of Squares (SoS) hierarchy on average-case problems. The SoS hierarchy is a powerful optimization technique that has achieved…

We are entering a new era in which software systems are becoming more and more complex and larger. So, the composition of such systems is becoming infeasible by manual means. To address this challenge, self-organising software models…

The control of nonlinear large-scale dynamical models such as the incompressible Navier-Stokes equations is a challenging task. The computational challenges in the controller design come from both the possibly large state space and the…

This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…

An abstraction can be used to relate two structural causal models representing the same system at different levels of resolution. Learning abstractions which guarantee consistency with respect to interventional distributions would allow one…

Clustering by projection has been proposed as a way to preserve network structure in linear multi-agent systems. Here, we extend this approach to a class of nonlinear network systems. Additionally, we generalize our clustering method which…

In this paper, we investigate novel self-triggered controllers for nonlinear control systems with reachability and safety specifications. To synthesize the self-triggered controller, we leverage the notion of symbolic models, or…

Neural abstractions have been recently introduced as formal approximations of complex, nonlinear dynamical models. They comprise a neural ODE and a certified upper bound on the error between the abstract neural network and the concrete…

A sum-and-distance system is a collection of finite sets of integers such that the sums and differences formed by taking one element from each set generate a prescribed arithmetic progression. Such systems, with two component sets, arise…

Dimensionality reduction represents the process of generating a low dimensional representation of high dimensional data. Motivated by the formation control of mobile agents, we propose a nonlinear dynamical system for dimensionality…

This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…

A sum-of-squares is a polynomial that can be expressed as a sum of squares of other polynomials. Determining if a sum-of-squares decomposition exists for a given polynomial is equivalent to a linear matrix inequality feasibility problem.…

We propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian disturbances and bounded control input constraints, without requiring prior knowledge of the bounds of the system…

We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, generated from a simple linear driftless approximation to the…

While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as playing the games of Tetris or chess, it has not been used in many continuous state and input space…

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,…

Attention-based neural abstractive summarization systems equipped with copy mechanisms have shown promising results. Despite this success, it has been noticed that such a system generates a summary by mostly, if not entirely, copying over…