相关论文: Small-Gain Theorem for Safety Verification under H…

The goal of this paper is to analyze Long Short Term Memory (LSTM) neural networks from a dynamical system perspective. The classical recursive equations describing the evolution of LSTM can be recast in state space form, resulting in a…

When deployed in the real world, safe control methods must be robust to unstructured uncertainties such as modeling error and external disturbances. Typical robust safety methods achieve their guarantees by always assuming that the…

In emerging control applications involving multiple and complex tasks, safety filters are gaining prominence as a modular approach to enforcing safety constraints. Among various methods, control barrier functions (CBFs) are widely used for…

The protection of Industrial Control Systems (ICS) that are employed in public critical infrastructures is of utmost importance due to catastrophic physical damages cyberattacks may cause. The research community requires testbeds for…

In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose a new type of barrier function based on a vector norm. This…

Safety-critical control systems, such as spacecraft performing proximity operations, must provide formal safety guarantees despite stochastic uncertainties from state estimation and unmodeled dynamics. Although Control Barrier Functions…

Motivated by the Model-Based Design process for Cyber-Physical Systems, we consider issues in conformance testing of systems. Conformance is a quantitative notion of similarity between the output trajectories of systems, which considers…

In this paper, the incremental stability of interconnected switched nonlinear systems is discussed. The nature of switching considered is state-dependent. The incremental stability of the switched interconnected system is a stronger…

This paper presents methodologies for ensuring forward invariance of sublevel sets of constraint functions with high-relative-degree with respect to the system dynamics and in the presence of input constraints. We show that such constraint…

We prove a novel Lyapunov-based small-gain theorem for networks of $ n \geq 2 $ hybrid systems which are not necessarily input-to-state stable. This result unifies and extends several small-gain theorems for hybrid and impulsive systems…

A necessary and sufficient condition, expressed simply as the DC loop gain (ie the loop gain at zero frequency) being less than unity, is given in this paper to guarantee the internal stability of a feedback interconnection of Linear…

New trajectory-based small-gain results are obtained for nonlinear feedback systems under relaxed assumptions. Specifically, during a transient period, the solutions of the feedback system may not satisfy some key inequalities that previous…

This work provides stability results in the spatial sup norm for hyperbolic-parabolic loops in one spatial dimension. The results are obtained by an application of the small-gain stability analysis. Two particular cases are selected for the…

Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this paper presents a suite of converse results on CBFs. Given any safe set, we…

The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…

The stability of interconnected linear time-invariant systems using singular values and the small gain theorem has been studied for many decades. The methods of mu-analysis and synthesis has been extensively developed to provide robustness…

This paper aims at the safety-critical control synthesis of network systems such that the satisfaction of the safety constraints can be guaranteed. To handle the large state dimension of such systems, an assume-guarantee contract is used to…

We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing literature, we deviate from the martingale theory that…

The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the…

In this paper the problem of stabilizing large-scale systems by distributed controllers, where the controllers exchange information via a shared limited communication medium is addressed. Event-triggered sampling schemes are proposed, where…