相关论文: A Barrier Certificate-based Simplex Architecture f…
We consider the problem of guaranteeing that the transient voltages and currents stay within prescribed bounds in Direct Current (DC) microgrids, when the controller does not have access to accurate system dynamics due to the load being…
Control barrier functions (CBFs) have emerged as a popular topic in safety critical control due to their ability to provide formal safety guarantees for dynamical systems. Despite their powerful capabilities, the determination of feasible…
In this paper, we introduce two new types of barrier certificates that are based on multiple functions rather than a single one. A conventional barrier certificate for a stochastic dynamical system is a nonnegative real-valued function…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems are safety-critical. Safety requirements are often…
Obtaining a controlled invariant set is crucial for safety-critical control with control barrier functions (CBFs) but is non-trivial for complex nonlinear systems and constraints. Backup control barrier functions allow such sets to be…
The rigorous safety verification of control systems in critical applications is essential, given their increasing complexity and integration into everyday life. Simulation-based falsification approaches play a pivotal role in the safety…
This work addresses the critical challenge of guaranteeing safety for complex dynamical systems where precise mathematical models are uncertain and data measurements are corrupted by noise. We develop a physics-informed, direct data-driven…
Autonomous Cyber-Physical Systems (CPS) fuse proprioceptive sensors such as GPS and exteroceptive sensors including Light Detection and Ranging (LiDAR) and cameras for state estimation and environmental observation. It has been shown that…
In this paper, we consider the problem of synthesizing low-complexity controllers for incrementally stable switched systems. For that purpose, we establish a new approximation result for the computation of symbolic models that are…
This paper studies the satisfaction of a class of temporal properties for cyber-physical systems (CPSs) over a finite-time horizon in the presence of an adversary, in an environment described by discrete-time dynamics. The temporal logic…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…
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,…
The existence of a Control Barrier Function (CBF) for a control-affine system provides a powerful design tool to ensure safety. Any controller that satisfies the CBF condition and ensures that the trajectories of the closed-loop system are…
Ensuring the safety of autonomous vehicles (AVs) is the key requisite for their acceptance in society. This complexity is the core challenge in formally proving their safety conditions with AI-based black-box controllers and surrounding…
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for…
In model predictive control (MPC) for hybrid systems, solving optimization problems efficiently and with guarantees on worst-case computational complexity is critical to satisfy the real-time constraints in these applications. These…
Microgrids offer increased self-reliance and resilience at the grid's edge. They promote a significant transition to decentralized and renewable energy production by optimizing the utilization of local renewable sources. However, to…
As the complexity of control systems increases, safety becomes an increasingly important property since safety violations can damage the plant and put the system operator in danger. When the system dynamics are unknown, safety-critical…
The need for robust control laws is especially important in safety-critical applications. We propose robust hybrid control barrier functions as a means to synthesize control laws that ensure robust safety. Based on this notion, we formulate…