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

We study the problem of synthesizing a controller to satisfy a complex task in the presence of sensor faults and attacks. We model the task using Gaussian distribution temporal logic (GDTL), and propose a solution approach that does not…

Switching controllers play a pivotal role in directing hybrid systems (HSs) towards the desired objective, embodying a ``correct-by-construction'' approach to HS design. Identifying these objectives is thus crucial for the synthesis of…

We consider the problem of approximating discrete-time plants with finite-valued sensors and actu- ators by deterministic finite memory systems for the purpose of certified-by-design controller synthesis. Building on ideas from robust…

In this paper, we study feedback dynamical systems with memoryless controllers under imperfect information. We develop an algorithm that searches for "adversarial scenarios", which can be thought of as the strategy for the adversary…

This paper considers the problem of designing a continuous-time dynamical system that solves a constrained nonlinear optimization problem and makes the feasible set forward invariant and asymptotically stable. The invariance of the feasible…

Safety filters provide modular techniques to augment potentially unsafe control inputs (e.g. from learning-based controllers or humans) with safety guarantees in the form of constraint satisfaction. In this paper, we present an improved…

We consider the problem of adaptive control of a class of feedback linearizable plants with matched parametric uncertainties whose states are accessible, subject to state constraints, which often arise due to safety considerations. In this…

In order to satisfy safety conditions, an agent may be constrained from acting freely. A safe controller can be designed a priori if an environment is well understood, but not when learning is employed. In particular, reinforcement learned…

This paper presents a novel control structure and control synthesis method for regulating the output voltage/frequency and power injection of DC-AC inverters. The traditional droop method offers attractive solution to achieve compromise…

Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…

Grid-interfacing inverters serve as the interface between renewable energy resources and the electric power grid, offering fast, programmable control capabilities. However, their operation is constrained by hardware limitations, such as…

Many physical plants that are controlled by embedded systems have safety requirements that need to be respected at all times - any deviations from expected behavior can result in damage to the system (often to the physical plant), the…

Safety filtering is an effective method for enforcing constraints in safety-critical systems, but existing methods typically assume perfect state information. This limitation is especially problematic for systems that rely on neural network…

In this paper, we introduce a new vulnerability of cyber-physical systems to malicious attack. It arises when the physical plant, that is modeled as a continuous-time LTI system, is controlled by a digital controller. In the sampled-data…

This paper addresses data-driven control of continuous-time systems. We develop a framework based on synthesis operators associated with input and state trajectories. A key advantage of the proposed method is that it does not require the…

In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…

Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time,…

When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between them can no longer be taken as given. The task of designing…

In this paper we propose sufficient conditions to synthesizing reach-avoid controllers for deterministic systems modelled by ordinary differential equations and stochastic systems modeled by stochastic differential equations based on the…

Unlike conventional generators, inverter-based generation do not possess any rotational inertia. While grid-forming inverters can synthesize small (virtual) inertia via advanced feedback control loops, additional control mechanisms are…