相关论文: Control Barrier Function based Attack-Recovery wit…

In this note, a new reciprocal resistance-based control barrier function (RRCBF) is developed to enhance the robustness of control barrier functions for disturbed affine nonlinear systems, without requiring explicit knowledge of disturbance…

A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper investigates and formalizes this assumption through the lens of…

Switching systems are an important mathematical formalism when dealing with Cyber-Physical Systems (CPSs). In this paper we provide conditions for the exact reconstruction of the initial discrete state of a switching system, when only the…

Barrier functions (BFs) characterize safe sets of dynamical systems, where hard constraints are never violated as the system evolves over time. Computing a valid safe set and BF for a nonlinear (and potentially unmodeled), non-autonomous…

This paper presents methodologies for constructing Control Barrier Functions (CBFs) for nonlinear, control-affine systems, in the presence of input constraints and bounded disturbances. More specifically, given a constraint function with…

Cyber-physical systems (CPSs) in critical infrastructure face a pervasive threat from attackers, motivating research into a variety of countermeasures for securing them. Assessing the effectiveness of these countermeasures is challenging,…

This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position model predictive control (MPC) and an inner-loop nonlinear…

In this paper we seek to quantify the ability of learning to improve safety guarantees endowed by Control Barrier Functions (CBFs). In particular, we investigate how model uncertainty in the time derivative of a CBF can be reduced via…

We propose a unified framework to fast generate a safe optimal control action for a new task from existing controllers on Multi-Agent Systems (MASs). The control action composition is achieved by taking a weighted mixture of the existing…

This work focuses on the use of deep learning for vulnerability analysis of cyber-physical systems (CPS). Specifically, we consider a control architecture widely used in CPS (e.g., robotics), where the low-level control is based on e.g.,…

This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar to how safety conditions are specified in terms of forward…

In this paper, we address two main problems in the context of covert cyber-attacks in cyber-physical systems (CPS). First, we aim to investigate and develop necessary and sufficient conditions in terms of disruption resources of the CPS…

The deployment of control systems with network-connected components has made feedback control systems vulnerable to attacks over the network. This paper considers the problem of intrusion detection and mitigation in supervisory control…

A Cyber-Physical System (CPS) is defined by its unique characteristics involving both the cyber and physical domains. Their hybrid nature introduces new attack vectors, but also provides an opportunity to design new security defenses. In…

This paper introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surfaces. The strategy uniquely integrates the Control Barrier…

Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing…

As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaranteeing safety; however, manually designing them for specific…

This paper proposes a new event-based parameter switching method for the control tasks of cybersecurity in the context of preventive and reactive cyber defense dynamics. Our parameter switching method helps avoid excessive control costs as…

Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One of the prevalent approaches is safety filtering based on control barrier functions (CBFs), which are…

Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…