相关论文: Convergence Rate Abstractions for Weakly-Hard Real…

While the utility of well-chosen abstractions for understanding and predicting the behaviour of complex systems is well appreciated, precisely what an abstraction $\textit{is}$ has so far has largely eluded mathematical formalization. In…

In this paper, we present and analyze a new set of low-rank recovery algorithms for linear inverse problems within the class of hard thresholding methods. We provide strategies on how to set up these algorithms via basic ingredients for…

The first aim of this paper is to establish the weak convergence rate of nonlinear two-time-scale stochastic approximation algorithms. Its second aim is to introduce the averaging principle in the context of two-time-scale stochastic…

Dynamical control of biological systems is often restricted by the practical constraint of unidirectional parameter perturbations. We show that such a restriction introduces surprising complexity to the stability of one-dimensional map…

Abstraction is a commonly used process to represent some low-level system by a more coarse specification with the goal to omit unnecessary details while preserving important aspects. While recent work on abstraction in the situation…

In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…

One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation. Recently it has been shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over…

Sufficiently accurate finite state models, also called symbolic models or discrete abstractions, allow one to apply fully automated methods, originally developed for purely discrete systems, to formally reason about continuous and hybrid…

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…

In this paper, we investigate the problem of semi-global minimal time robust stabilization of analytic control systems with controls entering linearly, by means of a hybrid state feedback law. It is shown that, in the absence of minimal…

Timed Concurrent Constraint Programming (tcc) is a declarative model for concurrency offering a logic for specifying reactive systems, i.e. systems that continuously interact with the environment. The universal tcc formalism (utcc) is an…

For systems with uncertain linear models, bounded additive disturbances and state and control constraints, a robust model predictive control algorithm incorporating online model adaptation is proposed. Sets of model parameters are…

We describe a set of lower-level abstractions to improve performance on modern large scale heterogeneous systems. These provide portable access to system- and hardware-dependent features, automatically apply dynamic optimizations at run…

Autonomous systems increasingly rely on machine learning techniques to transform high-dimensional raw inputs into predictions that are then used for decision-making and control. However, it is often easy to maliciously manipulate such…

Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…

We consider abstraction-based design of output-feedback controllers for non-linear dynamical systems against specifications over state-based predicates in linear-time temporal logic (LTL). In this context, our contribution is two-fold: (I)…

This paper provides rigorous definitions and analysis of the dynamics of weakly-coupled systems and gives sufficient conditions for an infinite dimensional quantum control system to be weakly-coupled. As an illustration we provide examples…

We propose a novel computational method for unit commitment UC, which does not require linearized approximation and provides several orders of magnitude performance improvement over current state-of-the-art. The performance improvement is…

Multidimensional loop kernels often suffer from control overhead that can dominate execution time on parallel loop accelerators. Tightly Coupled Processor Arrays (TCPAs) offload loop control to a global controller (GC), but existing…

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…