相关论文: Disturbance Observers for Robust Safety-critical C…

This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC.…

This paper presents a safe model predictive control (SMPC) framework designed to ensure the satisfaction of hard constraints for systems perturbed by an external disturbance. Such safety guarantees are ensured, despite the disturbance, by…

Stabilization of a coupled system consisting of a parabolic partial differential equation and an elliptic partial differential equation is considered. Even in the situation when the parabolic equation is exponentially stable on its own, the…

A new measure to characterize stability of complex dynamical systems against large perturbation is suggested, the stability threshold (ST). It quantifies the magnitude of the weakest perturbation capable to disrupt the system and switch it…

To bring complex systems into real world environments in a safe manner, they will have to be robust to uncertainties - both in the environment and the system. This paper investigates the safety of control systems under input disturbances,…

Electric-powered wheelchair plays an important role in providing accessibility for people with mobility impairment. Ensuring the safety of wheelchair operation in different application scenarios and for diverse users is crucial when the…

This paper proposes a model predictive controller for discrete-time linear systems with additive, possibly unbounded, stochastic disturbances and subject to chance constraints. By computing a polytopic probabilistic positively invariant set…

Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-world context, the goal of this paper is to develop controllers…

Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…

A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no disturbances. In this note we propose and adaptive version of this…

This paper considers stochastic linear time-invariant systems subject to constraints on the average number of state-constraint violations over time without knowing the disturbance distribution. We present a novel disturbance-adaptive model…

This paper considers a disturbance attenuation problem for a linear discrete time invariant system under random disturbances with imprecisely known probability distributions. The statistical uncertainty is measured in terms of relative…

This work deals with the problem of designing disturbance decupled observers for the estimation of a function of the states in nonlinear systems. Necessary and sufficient conditions for the existence of lower order disturbance decoupled…

This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…

The design of safe-critical control algorithms for systems under Denial-of-Service (DoS) attacks on the system output is studied in this work. We aim to address scenarios where attack-mitigation approaches are not feasible, and the system…

Several concepts on the measure of observability, reachability, and robustness are defined and illustrated for both linear and nonlinear control systems. Defined by using computational dynamic optimization, these concepts are applicable to…

Motivated by the fragility of neural network (NN) controllers in safety-critical applications, we present a data-driven framework for verifying the risk of stochastic dynamical systems with NN controllers. Given a stochastic control system,…

This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…

We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertainty is modeled as an additive disturbance and an additive error on the…

This paper studies the problem of safe stabilization of control-affine systems under uncertainty. Our starting point is the availability of worst-case or probabilistic error descriptions for the dynamics and a control barrier function…