相关论文: Enforcing Safety under Actuator Attacks through In…

For LTI control systems, we provide mathematical tools - in terms of Linear Matrix Inequalities - for computing outer ellipsoidal bounds on the reachable sets that attacks can induce in the system when they are subject to the physical…

This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and intersections of 0-superlevel sets of differentiable functions.…

We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system. From a broader test and evaluation context, determination of…

Recent works investigated attacks on sensors by influencing analog sensor components with acoustic, light, and electromagnetic signals. Such attacks can have extensive security, reliability, and safety implications since many types of the…

Industrial control applications require high performance under strict constraints. Control barrier functions (CBFs) provide principled safety mechanisms, but constructing CBF-based safety filters for large-scale systems is challenging. We…

The present work deals with quantitative two-phase reach-avoid problems on nonlinear control systems. This class of optimal control problem requires the plant's state to visit two (rather than one) target sets in succession while minimizing…

Cyber-physical systems are often safety-critical in that violations of safety properties may lead to catastrophes. We propose a method to enforce the safety of systems with real-valued signals by synthesizing a runtime enforcer called the…

One of the major challenges about cyber physical systems is how to prevent cyber attacks to ensure system integrity. There has been a large number of different types of attacks discussed in the modern control and computer science…

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…

Equipping approximate dynamic programming (ADP) with inputconstraints has a tremendous significance. This enables ADP to be applied tothe systems with actuator limitations, which is quite common for dynamicalsystems. In a conventional…

In robotics, control barrier function (CBF)-based safety filters are commonly used to enforce state constraints. A critical challenge arises when the relative degree of the CBF varies across the state space. This variability can create…

State estimation uncertainty is prevalent in real-world applications, hindering the application of safety-critical control. Existing methods address this by strengthening a Control Barrier Function (CBF) condition either to handle actuation…

The broad landscape of new applications requires minimal hardware resources without any sacrifice in Quality-of-Results. Approximate Computing (AC) has emerged to meet the demands of data-rich applications. Although AC applies techniques to…

We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…

Consider a stochastic process being controlled across a communication channel. The control signal that is transmitted across the control channel can be replaced by a malicious attacker. The controller is allowed to implement any arbitrary…

This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…

In this paper, we investigate the problem of synthesizing resilient supervisors against combined actuator and sensor attacks, for the subclass of cyber-physical systems that can be modelled as discrete-event systems. We assume that the…

As more attention is paid to security in the context of control systems and as attacks occur to real control systems throughout the world, it has become clear that some of the most nefarious attacks are those that evade detection. The term…

We present an approach for designing correct-by-construction neural networks (and other machine learning models) that are guaranteed to be consistent with a collection of input-output specifications before, during, and after algorithm…

In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…