相关论文: Safety Index Synthesis via Sum-of-Squares Programm…

Safety is closely related to set invariance for dynamical systems. However, synthesizing a safe invariant set and at the same time synthesizing the associated safe controller still remains challenging. In this note we introduce a simple…

This paper introduces an approach for synthesizing feasible safety indices to derive safe control laws under state-dependent control spaces. The problem, referred to as Safety Index Synthesis (SIS), is challenging because it requires the…

Safety guarantees are valuable in the control of walking robots, as falling can be both dangerous and costly. Unfortunately, set-based tools for generating safety guarantees (such as sums-of-squares optimization) are typically restricted to…

Tolerance estimation problems are prevailing in engineering applications. For example, in modern robotics, it remains challenging to efficiently estimate joint tolerance, \ie the maximal allowable deviation from a reference robot state such…

We consider the problem of ensuring the safety of nonlinear control systems under adversarial signals. Using Lyapunov based reachability analysis, we first give sufficient conditions to assess safety, i.e., to guarantee that the states of…

Safety guarantee is essential in many engineering implementations. Reinforcement learning provides a useful way to strengthen safety. However, reinforcement learning algorithms cannot completely guarantee safety over realistic operations.…

Safety requirements in dynamical systems are commonly enforced with set invariance constraints over a safe region of the state space. Control barrier functions, which are Lyapunov-like functions for guaranteeing set invariance, are an…

Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…

Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…

This paper presents a general form of integral sliding mode manifold, and proposes an algorithmic approach based on Sum of Squares (SOS) programming to design generalized integral sliding mode manifold and controller for nonlinear systems…

Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…

This work presents a computationally efficient approach to data-driven robust contracting controller synthesis for polynomial control-affine systems based on a sum-of-squares program. In particular, we consider the case in which a system…

Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…

Motivated by the need to simultaneously guarantee safety and stability of safety-critical dynamical systems, we construct permissive barrier certificates in this paper that explicitly maximize the region where the system can be stabilized…

Control systems often must satisfy strict safety requirements over an extended operating lifetime. Control Barrier Functions (CBFs) are a promising recent approach to constructing simple and safe control policies. This paper proposes a…

Discrete-time Control Barrier Functions (DTCBFs) are commonly utilized in the literature as a powerful tool for synthesizing control policies that guarantee safety of discrete-time dynamical systems. However, the systematic synthesis of…

In this paper we discuss how to generate inductive invariants for safety verification of hybrid systems. A hybrid symbolic-numeric method is presented to compute inequality inductive invariants of the given systems. A numerical invariant of…

This paper presents an approach to systematically design sliding mode control and manifold to stabilize nonlinear uncertain systems. The objective is also accomplished to enlarge the inner bound of region of attraction for closed-loop…

Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…

The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…