相关论文: Continuous Abstraction of Nonlinear Systems using …

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 propose a method for automatically generating abstract transformers for static analysis by abstract interpretation. The method focuses on linear constraints on programs operating on rational, real or floating-point variables and…

This paper considers the problem of learning control laws for nonlinear polynomial systems directly from the data, which are input-output measurements collected in an experiment over a finite time period. Without explicitly identifying the…

This paper is concerned with a compositional approach for constructing infinite abstractions of interconnected discrete-time stochastic control systems. The proposed approach uses the interconnection matrix and joint dissipativity-type…

We present a method of parameter estimation for large class of nonlinear systems, namely those in which the state consists of output derivatives and the flow is linear in the parameter. The method, which solves for the unknown parameter by…

This paper studies the construction of symbolic abstractions for nonlinear control systems via feedback refinement relation. Both the delay-free and time-delay cases are addressed. For the delay-free case, to reduce the computational…

Designing controllers to satisfy temporal requirements has proven to be challenging for dynamical systems that are affected by uncertainty. This is mainly due to the states evolving in a continuous uncountable space, the stochastic…

In this paper, we propose a framework based on sum-of-squares programming to design iterative first-order optimization algorithms for smooth and strongly convex problems. Our starting point is to develop a polynomial matrix inequality as a…

Handling an infinite number of inequality constraints in infinite-dimensional spaces occurs in many fields, from global optimization to optimal transport. These problems have been tackled individually in several previous articles through…

In this paper, we introduce NNSynth, a new framework that uses machine learning techniques to guide the design of abstraction-based controllers with correctness guarantees. NNSynth utilizes neural networks (NNs) to guide the search over the…

Reach-avoid problems involve driving a system to a set of desirable configurations while keeping it away from undesirable ones. Providing mathematical guarantees for such scenarios is challenging but have numerous potential practical…

We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…

Very high dimensional nonlinear systems arise in many engineering problems due to semi-discretization of the governing partial differential equations, e.g. through finite element methods. The complexity of these systems present…

In this paper, we develop a compositional approach to abstraction and safety synthesis for a general class of discrete time nonlinear systems. Our approach makes it possible to define a symbolic abstraction by composing a set of symbolic…

We show how to underapproximate the procedure summaries of recursive programs over the integers using off-the-shelf analyzers for non-recursive programs. The novelty of our approach is that the non-recursive program we compute may capture…

We present an algorithm of control synthesis for nonlinear switched systems, based on an existing procedure of state-space bisection and made available for nonlinear systems with the help of validated simulation. The use of validated…

In this paper, we consider the problem of controller design using approximately bisimilar abstractions with an emphasis on safety and reachability specifications. We propose abstraction-based approaches to solve both classes of problems. We…

We propose a multi-scale approach for computing abstractions of dynamical systems, that incorporates both local and global optimal control to construct a goal-specific abstraction. For a local optimal control problem, we not only design the…

A symmetry of a dynamical system is a map that transforms one trajectory to another trajectory. We introduce a new type of abstraction for hybrid automata based on symmetries. The abstraction combines different modes in a concrete automaton…

This paper explores the theoretical limits of using discrete abstractions for nonlinear control synthesis. More specifically, we consider the problem of deciding continuous-time control with temporal logic specifications. We prove that…