相关论文: Data-Driven Robust Backward Reachable Sets for Set…

This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using…

We present a robust data-driven control scheme for an unknown linear system model with bounded process and measurement noise. Instead of depending on a system model in traditional predictive control, a controller utilizing data-driven…

We consider the problem of computing reachable sets directly from noisy data without a given system model. Several reachability algorithms are presented for different types of systems generating the data. First, an algorithm for computing…

The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…

This paper presents a new data-driven robust predictive control law, for linear systems affected by unknown-but-bounded process disturbances. A sequence of input-state data is used to construct a suitable uncertainty representation based on…

Data-driven safety verification of robotic systems often relies on zonotopic reachability analysis due to its scalability and computational efficiency. However, for nonlinear systems, these methods can become overly conservative, especially…

In this paper, we propose a data-driven reachability analysis approach for unknown system dynamics. Reachability analysis is an essential tool for guaranteeing safety properties. However, most current reachability analysis heavily relies on…

We present a novel tube-based data-driven predictive control method for linear systems affected by a bounded addictive disturbance. Our method leverages recent results in the reachability analysis of unknown linear systems to formulate and…

Zonotopes are widely used for over-approximating forward reachable sets of uncertain linear systems for verification purposes. In this paper, we use zonotopes to achieve more scalable algorithms that under-approximate backward reachable…

This work proposes a robust data-driven tube-based zonotopic predictive control (TZPC) approach for discrete-time linear systems, designed to ensure stability and recursive feasibility in the presence of bounded noise. The proposed approach…

The increasing prevalence of neural networks in safety-critical control systems underscores the imperative need for rigorous methods to ensure the reliability and safety of these systems. This work introduces a novel approach employing…

Model predictive control allows solving complex control tasks with control and state constraints. However, an optimal control problem must be solved in real-time to predict the future system behavior, which is hardly possible on embedded…

Inner-approximate reachability analysis involves calculating subsets of reachable sets, known as inner-approximations. This analysis is crucial in the fields of dynamic systems analysis and control theory as it provides a reliable…

Over-approximating the reachable sets of dynamical systems is a fundamental problem in safety verification and robust control synthesis. The representation of these sets is a key factor that affects the computational complexity and the…

This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…

Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…

Designing the terminal ingredients of direct data-driven predictive control presents challenges due to its reliance on an implicit, non-minimal input-output data-driven representation. By considering the class of constrained LTI systems…

This paper presents a new robust data-driven predictive control scheme for unknown linear time-invariant systems by using input-state-output or input-output data based on whether the state is measurable. To remove the need for the…

This paper investigates the application of reachability analysis to the re-entry problem faced by vehicles entering Earth's atmosphere. The study delves into the time evolution of reachable sets for the system, particularly when subject to…

This paper addresses the conservatism in data-driven reachability analysis for discrete-time linear systems subject to bounded process noise, where the system matrices are unknown and only input--state trajectory data are available.…