相关论文: Transformation-Free Fixed-Structure Model Reductio…

Stability is one of the most fundamental requirements for systems synthesis. In this paper, we address the stabilization problem for unknown linear systems via policy gradient (PG) methods. We leverage a key feature of PG for Linear…

Developing critical components, such as mission controllers or embedded systems, is a challenging task. Reactive synthesis is a technique to automatically produce correct controllers. Given a high-level specification written in LTL,…

Distributed parameter systems (DPS) are formulated as partial differential equations (PDE). Especially, under time-varying boundary conditions, PDE introduce force coupling. In the case of the flexible stacker crane (STC), nonlinear…

We consider the problem of synthesizing optimal linear feedback policies subject to arbitrary convex constraints on the feedback matrix. This is known to be a hard problem in the usual formulations ($\Htwo,\Hinf,\LQR$) and previous works…

Choosing an appropriate parameter set for the designed controller is critical for the final performance but usually requires a tedious and careful tuning process, which implies a strong need for automatic tuning methods. However, among…

The control of constrained systems using model predictive control (MPC) becomes more challenging when full state information is not available and when the nominal system model and measurements are corrupted by noise. Since these conditions…

Linear Parameter-Varying (LPV) systems with jumps and piecewise differentiable parameters is a class of hybrid LPV systems for which no tailored stability analysis and stabilization conditions have been obtained so far. We fill this gap…

Reactive synthesis is the process of generating correct controllers from temporal logic specifications. Classical LTL reactive synthesis handles (propositional) LTL as a specification language. Boolean abstractions allow reducing LTLt…

Transformer models contain substantial internal redundancy arising from coordinate-dependent representations and continuous symmetries, in model space and in head space, respectively. While recent approaches address this by explicitly…

We investigate the problem of synthesizing switching controllers for stabilizing continuous-time plants. First, we introduce a class of control Lyapunov functions (CLFs) for switched systems along with a switching strategy that yields a…

This paper addresses the problem of control synthesis for nonlinear optimal control problems in the presence of state and input constraints. The presented approach relies upon transforming the given problem into an infinite-dimensional…

In this study, we implement a control method for stabilizing a ballbot that simultaneously follows a reference. A ballbot is a robot balancing on a spherical wheel where the single point of contact with the ground makes it omnidirectional…

In this contribution we present a new modeling and simulation framework for parametrized Lithium-ion battery cells. We first derive a new continuum model for a rather general intercalation battery cell on the basis of non-equilibrium…

This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of iterations and directly yields a partition-based invariance…

Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…

Deadline misses are more common in real-world systems than one may expect. The weakly-hard task model has become a standard abstraction to describe and analyze how often these misses occur, and has been especially used in control…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…

We establish data-driven versions of the System Level Synthesis (SLS) parameterization of achievable closed-loop system responses for a linear-time-invariant system over a finite-horizon. Inspired by recent work in data-driven control that…

We present a compositional approach to controller synthesis of discrete event system controllers with linear temporal logic (LTL) goals. We exploit the modular structure of the plant to be controlled, given as a set of labelled transition…