相关论文: Data-driven Invariance for Reference Governors

The goal of this paper is to present a systematic method to compute reference dependent positively invariant sets for systems subject to constraints. To this end, we first characterize these sets as level sets of reference dependent…

Automatic verification of concurrent programs faces state explosion due to the exponential possible interleavings of its sequential components coupled with large or infinite state spaces. An alternative is deductive verification, where…

In this paper, we provide a direct data-driven approach to synthesize safety controllers for unknown linear systems affected by unknown-but-bounded disturbances, in which identifying the unknown model is not required. First, we propose a…

Reference governors are add-on schemes that are used to modify trajectories to prevent controlled dynamical systems from violating constraints and so are playing an increasingly important role in aerospace, robotic, and other engineering…

Positive invariant (PI) sets are essential for ensuring safety, i.e. constraint adherence, of dynamical systems. With the increasing availability of sampled data from complex (and often unmodeled) systems, it is advantageous to leverage…

We propose a data-driven algorithm for numerical invariant synthesis and verification. The algorithm is based on the ICE-DT schema for learning decision trees from samples of positive and negative states and implications corresponding to…

Reference and command governors are add-on schemes that augment nominal closed-loop systems with the capability to enforce state and control constraints. They do this by monitoring and modifying, when necessary, the reference command.…

The paper considers the application of reference governors to linear discrete-time systems with constraints given by polynomial inequalities. We propose a novel algorithm to compute the maximal output admissible invariant set in the case of…

We consider the problem of computing the maximal invariant set of discrete-time black-box nonlinear systems without analytic dynamical models. Under the assumption that the system is asymptotically stable, the maximal invariant set…

We present a direct data-driven approach to synthesize robust control invariant (RCI) sets and their associated gain-scheduled feedback control laws for linear parameter-varying (LPV) systems subjected to bounded disturbances. A data-set…

In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…

This paper presents a direct data-driven approach for computing robust control invariant (RCI) sets and their associated state-feedback control laws for linear time-invariant systems affected by bounded disturbances. The proposed method…

We consider the problem of designing an invariant set using only a finite set of input-state data collected from an unknown polynomial system in continuous time. We consider noisy data, i.e., corrupted by an unknown-but-bounded disturbance.…

Studying structural properties of linear dynamical systems through invariant subspaces is one of the key contributions of the geometric approach to system theory. In general, a model of the dynamics is required in order to compute the…

This paper addresses the critical challenge of developing data-driven certificates for the stability and safety of unmodeled dynamical systems by leveraging a tree data structure and an upper bound of the system's Lipschitz constant.…

We propose a data-driven control design method for nonlinear systems that builds on kernel-based interpolation. Under some assumptions on the system dynamics, kernel-based functions are built from data and a model of the system, along with…

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…

The synthesis of robust invariant sets for nonlinear systems has traditionally been hindered by the inherent non convexity and a strict reliance on exact analytical models. This paper presents a purely data-driven framework to compute…

Control invariant set is critical for guaranteeing safe control and the problem of computing control invariant set for linear discrete-time system is revisited in this paper by using a data-driven approach. Specifically, sample points on…

Constraint admissible positively invariant (CAPI) sets play a pivotal role in ensuring safety in control and planning applications, such as the recursive feasibility guarantee of explicit reference governor and model predictive control.…