相关论文: Funnel Synthesis via LMI Copositivity Conditions f…

This paper presents a convex optimization-based framework for synthesizing time-varying controlled invariant funnels and associated feedback control around a given nominal trajectory for nonlinear systems subject to bounded disturbances.…

This paper presents a funnel synthesis algorithm for computing controlled invariant sets and feedback control gains around a given nominal trajectory for dynamical systems with locally Lipschitz nonlinearities and bounded disturbances. The…

This paper presents a joint synthesis algorithm of trajectory and controlled invariant funnel (CIF) for locally Lipschitz nonlinear systems subject to bounded disturbances. The CIF synthesis refers to a procedure of computing controlled…

This paper presents numerical methods for computing regions of finite-time invariance (funnels) around solutions of polynomial differential equations. First, we present a method which exactly certifies sufficient conditions for invariance…

In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…

We present a method for the synthesis of polynomial lasso programs. These programs consist of a program stem, a set of transitions, and an exit condition, all in the form of algebraic assertions (conjunctions of polynomial equalities).…

In this paper, a method is presented to synthesize neural network controllers such that the feedback system of plant and controller is dissipative, certifying performance requirements such as L2 gain bounds. The class of plants considered…

Continuous linear dynamical systems are used extensively in mathematics, computer science, physics, and engineering to model the evolution of a system over time. A central technique for certifying safety properties of such systems is by…

Loop invariants are software properties that hold before and after every iteration of a loop. As such, invariants provide inductive arguments that are key in automating the verification of program loops. The problem of generating loop…

Computing a stabilizing static output-feedback (SOF) controller is an NP-hard problem, in general. Yet, these controllers have amassed popularity in recent years because of their practical use in feedback control applications, such as fluid…

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…

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…

We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…

We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…

Managing uncertainty is a fundamental and critical issue in spacecraft entry guidance. This paper presents a novel approach for uncertainty propagation during entry, descent and landing that relies on a new sum-of-squares robust…

Nonlinear interpolants have been shown useful for the verification of programs and hybrid systems in contexts of theorem proving, model checking, abstract interpretation, etc. The underlying synthesis problem, however, is challenging and…

The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…

This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…

The problem of stationary robust L_infinity-induced deconvolution filtering for the uncertain continuous-time linear stochastic systems is addressed. The state space model of the system contains state- and input-dependent noise and…

We present an approach to compute stabilizing controllers for continuous-time linear time-invariant systems directly from an input-output trajectory affected by process and measurement noise. The proposed output-feedback design combines (i)…