Andrea Peruffo
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View article: Fault-tolerant control of nonlinear systems: An inductive synthesis approach
Fault-tolerant control of nonlinear systems: An inductive synthesis approach Open
Actuator faults heavily affect the performance and stability of control systems, an issue that is even more critical for systems required to operate autonomously under adverse environmental conditions, such as unmanned vehicles. To this en…
View article: Fossil 2.0: Formal Certificate Synthesis for the Verification and Control of Dynamical Models
Fossil 2.0: Formal Certificate Synthesis for the Verification and Control of Dynamical Models Open
This paper presents Fossil 2.0, a new major release of a software tool for the synthesis of certificates (e.g., Lyapunov and barrier functions) for dynamical systems modelled as ordinary differential and difference equations. Fossil 2.0 is…
View article: Passive Fault-Tolerant Augmented Neural Lyapunov Control: A method to synthesise control functions for marine vehicles affected by actuators faults
Passive Fault-Tolerant Augmented Neural Lyapunov Control: A method to synthesise control functions for marine vehicles affected by actuators faults Open
Closed-loop stability of control systems can be undermined by actuator faults. Redundant actuator sets and Fault-Tolerant Control (FTC) strategies can be exploited to enhance system resiliency to loss of actuator efficiency, complete failu…
View article: Data-driven Interval MDP for Robust Control Synthesis
Data-driven Interval MDP for Robust Control Synthesis Open
The abstraction of dynamical systems is a powerful tool that enables the design of feedback controllers using a correct-by-design framework. We investigate a novel scheme to obtain data-driven abstractions of discrete-time stochastic proce…
View article: Data-Driven Abstractions for Control Systems via Random Exploration
Data-Driven Abstractions for Control Systems via Random Exploration Open
At the intersection of dynamical systems, control theory, and formal methods lies the construction of symbolic abstractions: these typically represent simpler, finite-state models whose behavior mimics that of an underlying concrete system…
View article: Fossil 2.0: Formal Certificate Synthesis for the Verification and Control of Dynamical Models
Fossil 2.0: Formal Certificate Synthesis for the Verification and Control of Dynamical Models Open
This paper presents Fossil 2.0, a new major release of a software tool for the synthesis of certificates (e.g., Lyapunov and barrier functions) for dynamical systems modelled as ordinary differential and difference equations. Fossil 2.0 is…
View article: A General Framework for Verification and Control of Dynamical Models via Certificate Synthesis
A General Framework for Verification and Control of Dynamical Models via Certificate Synthesis Open
An emerging branch of control theory specialises in certificate learning, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a f…
View article: Poster: Convex Scenario Optimisation for ReLU Networks
Poster: Convex Scenario Optimisation for ReLU Networks Open
Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright h…
View article: Augmented Neural Lyapunov Control
Augmented Neural Lyapunov Control Open
Machine learning-based methodologies have recently been adapted to solve control problems. The Neural Lyapunov Control (NLC) method is one such example. This approach combines Artificial Neural Networks (ANNs) with Satisfiability Modulo Th…
View article: Data-driven Abstractions for Verification of Linear Systems
Data-driven Abstractions for Verification of Linear Systems Open
We introduce a novel approach for the construction of symbolic abstractions - simpler, finite-state models - which mimic the behaviour of a system of interest, and are commonly utilized to verify complex logic specifications. Such abstract…
View article: Data-driven Abstractions for Verification of Deterministic Systems
Data-driven Abstractions for Verification of Deterministic Systems Open
A common technique to verify complex logic specifications for dynamical systems is the construction of symbolic abstractions: simpler, finite-state models whose behaviour mimics the one of the systems of interest. Typically, abstractions a…
View article: Data-driven Abstractions with Probabilistic Guarantees for Linear PETC Systems
Data-driven Abstractions with Probabilistic Guarantees for Linear PETC Systems Open
We employ the scenario approach to compute probably approximately correct (PAC) bounds on the average inter-sample time (AIST) generated by an unknown PETC system, based on a finite number of samples. We extend the scenario approach to mul…
View article: Automated and Formal Synthesis of Neural Barrier Certificates for Dynamical Models
Automated and Formal Synthesis of Neural Barrier Certificates for Dynamical Models Open
We introduce an automated, formal, counterexample-based approach to synthesise Barrier Certificates (BC) for the safety verification of continuous and hybrid dynamical models. The approach is underpinned by an inductive framework: this is …
View article: Formal Synthesis of Lyapunov Neural Networks
Formal Synthesis of Lyapunov Neural Networks Open
We propose an automatic and formally sound method for synthesising Lyapunov\nfunctions for the asymptotic stability of autonomous non-linear systems.\nTraditional methods are either analytical and require manual effort or are\nnumerical bu…
View article: A New Recursive Least-Squares Method with Multiple Forgetting Schemes
A New Recursive Least-Squares Method with Multiple Forgetting Schemes Open
We propose a recursive least-squares method with multiple forgetting schemes to track time-varying model parameters which change with different rates. Our approach hinges on the reformulation of the classic recursive least-squares with for…