相关论文: Continuous Abstraction of Nonlinear Systems using …

The practical impact of abstraction-based controller synthesis methods is currently limited by the immense computational effort for obtaining abstractions. In this note we focus on a recently proposed method to compute abstractions whose…

Controller synthesis techniques for continuous systems with respect to temporal logic specifications typically use a finite-state symbolic abstraction of the system. Constructing this abstraction for the entire system is computationally…

Safety requirements in dynamical systems are commonly enforced with set invariance constraints over a safe region of the state space. Control barrier functions, which are Lyapunov-like functions for guaranteeing set invariance, are an…

In this paper, we introduce a compositional scheme for the construction of finite abstractions (a.k.a. symbolic models) of interconnected discrete-time control systems. The compositional scheme is based on small-gain type reasoning. In…

This paper proposes a method for abstracting control systems by timed game automata, and is aimed at obtaining automatic controller synthesis. The proposed abstraction is based on partitioning the state space of a control system using…

This article presents a scalable implementation of nonlinear Gramian-based control synthesis for control-affine systems, including a minimum energy control construction. These synthesis advances are achieved by addressing key computational…

Symbolic models are abstract descriptions of continuous systems in which symbols represent aggregates of continuous states. In the last few years there has been a growing interest in the use of symbolic models as a tool for mitigating…

This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…

This note aims to provide a systematic investigation of direct data-driven control, enriching the existing literature not by adding another isolated result, but rather by offering a unifying, versatile, and broad framework that enables the…

Linear projection schemes like Proper Orthogonal Decomposition can efficiently reduce the dimensions of dynamical systems but are naturally limited, e.g., for convection-dominated problems. Nonlinear approaches have shown to outperform…

We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD)…

A common technique for checking properties of complex state machines is to build a finite abstraction then check the property on the abstract system -- where a passing check on the abstract system is only transferred to the original system…

In this paper, we consider the problem of synthesizing correct-by-construction controllers for discrete-time dynamical systems. A commonly adopted approach in the literature is to abstract the dynamical system into a Finite Transition…

Experience from seven decades of classical computing suggests that a sustainable computer industry depends on a community of software engineers writing programs to address a wide variety of specific end-user needs, achieving both…

We consider a nonlinear control affine system controlled by inputs generated by a quadratic program (QP) induced by a control barrier functions (CBF). Specifically, we slightly modify the condition satisfied by CBFs and study how the…

We present lazy abstraction-based controller synthesis (ABCS) for continuous-time nonlinear dynamical systems against reach-avoid and safety specifications. State-of-the-art multi-layered ABCS pre-computes multiple finite-state abstractions…

In this paper, a scalable iterative projection-type algorithm for solving non-stationary systems of linear inequalities is considered. A non-stationary system is understood as a large-scale system of inequalities in which coefficients and…

We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…

The field of quantum computing is at an exciting time where we are constructing novel hardware, evaluating algorithms, and finding out what works best. As qubit technology grows and matures, we need to be ready to design and program larger…

Learning-based control methods for industrial processes leverage the repetitive nature of the underlying process to learn optimal inputs for the system. While many works focus on linear systems, real-world problems involve nonlinear…