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

In this paper, we consider the problem of synthesizing the supremal covert damage-reachable attacker, in the setup where the model of the supervisor is unknown to the adversary but the adversary has recorded a (prefix-closed) finite set of…

This paper investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization…

The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…

In this paper, we present a method for optimal control synthesis of a plant that interacts with a set of agents in a graph-like environment. The control specification is given as a temporal logic statement about some properties that hold at…

Input constraints as well as parametric uncertainties must be accounted for in the design of safe control systems. This paper presents an adaptive controller for multiple-input-multiple-output (MIMO) plants with input magnitude and rate…

This paper deals with the stabilization of linear systems with process noise under packet drops between the sensor and the controller. Our aim is to ensure exponential convergence of the second moment of the plant state to a given bound in…

In this paper, we consider the problem of multi-objective optimal control of a dynamical system with additive and multiplicative noises with given second moments and arbitrary probability distributions. The objectives are given by quadratic…

Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…

Implementation of learning-based control remains challenging due to the absence of safety guarantees. Safe control methods have turned to model-based safety filters to address these challenges, but this is paradoxical when the ultimate goal…

Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…

This paper presents an ellipsoidal set-theoretic framework for robust safety filter synthesis in constrained linear systems subject to additive bounded disturbances and input constraints. We formulate the safety filter design as a convex…

Despite the impressive recent advances in learning-based robot control, ensuring robustness to out-of-distribution conditions remains an open challenge. Safety filters can, in principle, keep arbitrary control policies from incurring…

Indirect prompt injection attacks threaten AI agents that execute consequential actions, motivating deterministic system-level defenses. Such defenses can provably block unsafe actions by enforcing confidentiality and integrity policies,…

We present a convex optimization to reduce the impact of sensor falsification attacks in linear time invariant systems controlled by observer-based feedback. We accomplish this by finding optimal observer and controller gain matrices that…

Plant-level control is an emerging wind energy technology that presents opportunities and challenges. By controlling turbines in a coordinated manner via a central controller, it is possible to achieve greater wind power plant efficiency.…

Projection-based integrators are effectively employed in high-precision systems with growing industrial success. By utilizing a projection operator, the resulting projection-based integrator keeps its input-output pair within a designated…

Agents operating in physical environments need to be able to handle delays in the input and output signals since neither data transmission nor sensing or actuating the environment are instantaneous. Shields are correct-by-construction…

This paper addresses the design of input signals for the purpose of discriminating among a finite set of models dynamic systems within a given finite time interval. A motivating application is fault detection and isolation. We propose…

We present a new output feedback fault tolerant control strategy for continuous-time linear systems. The strategy combines a digital nominal controller under controller-driven (varying) sampling with virtual-actuator (VA)-based controller…

In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…