# Compositional construction of control barrier functions for interconnected control systems

@article{Jagtap2020CompositionalCO, title={Compositional construction of control barrier functions for interconnected control systems}, author={Pushpak Jagtap and Abdalla Swikir and Majid Zamani}, journal={Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control}, year={2020} }

In this paper, we provide a compositional framework for synthesizing hybrid controllers for interconnected discrete-time control systems enforcing specifications expressed by co-Büchi automata. In particular, we first decompose the given specification to simpler reachability tasks based on automata representing the complements of original co-Büchi automata. Then, we provide a systematic approach to solve those simpler reachability tasks by computing cor-responding control barrier functions. We…

## 16 Citations

Formal Synthesis of Stochastic Systems via Control Barrier Certificates

- Computer Science, MathematicsIEEE Transactions on Automatic Control
- 2021

This article proposes the use of so-called control barrier certificate to solve simpler reachability tasks along with computing the corresponding controllers and probability bounds, and combines those controllers to obtain a hybrid control policy solving the considered problem.

Compositional Synthesis of Control Barrier Certificates for Networks of Stochastic Systems against ω-Regular Specifications

- Computer Science, MathematicsArXiv
- 2021

The main objective is to synthesize switching control policies against ω-regular properties that can be described by accepting languages of deterministic Streett automata (DSA) along with providing probabilistic guarantees for the satisfaction of such specifications.

Formal Synthesis of Controllers for Uncertain Linear Systems against ω-Regular Properties: A Set-based Approach

- Computer Science, MathematicsArXiv
- 2021

This paper presents how to synthesize controllers to enforce ω-regular properties over linear control systems affected by bounded disturbances, and proposes two iterative schemes to compute approximations of the maximal HCI set.

Compositional Construction of Safety Controllers for Networks of Continuous-Space POMDPs

- Mathematics, Computer ScienceArXiv
- 2021

A compositional framework for the synthesis of safety controllers for networks of partially-observed discrete-time stochastic control systems (a.k.a. continuous-space POMDPs) and demonstrates the effectiveness of the proposed approaches by applying them to an adaptive cruise control problem.

Formal Verification of Control Systems against Hyperproperties via Barrier Certificates

- Computer ScienceArXiv
- 2021

A discretization-free approach for the formal verification of discrete-time control systems against hyperproperties, which involves decomposition of complex hyperproperties into several verification conditions by exploiting the automata-based structure corresponding to the complement of the original specifications.

Synthesis of Partially Observed Jump-Diffusion Systems via Control Barrier Functions

- MathematicsIEEE Control Systems Letters
- 2021

The goal is to synthesize an offline control policy providing (potentially maximizing) a lower bound on the probability that the trajectories of the partially observed jump-diffusion system satisfy some complex specifications expressed by deterministic finite automata.

Synthesis of Stochastic Systems with Partial Information via Control Barrier Functions

- Mathematics, Computer Science
- 2020

Formal verification of hyperproperties for control systems

- Computer ScienceCAADCPS@CPSIoTWeek
- 2021

Here, a sound approach for verifying discrete-time control systems against HyperLTL formulae through the use of so-called augmented barrier certificates (ABCs) is presented.

Control Barrier Functions for Unknown Nonlinear Systems using Gaussian Processes*

- Mathematics, Computer Science2020 59th IEEE Conference on Decision and Control (CDC)
- 2020

This paper uses a data-driven approach utilizing Gaussian processes to learn the unknown control affine nonlinear dynamics together with a statistical bound on the accuracy of the learned model and develops a systematic approach to compute control barrier functions that explicitly take into consideration the uncertainty of the learning model.

Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles using Parametric Control Barrier Functions

- Computer Science
- 2022

The Parametric Control Barrier Function (Parametric-CBF), a novel variant of the traditional Control Barrier function to extend its expressivity in describing different safe behaviors among heterogeneous robots, is introduced.

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