Abstract:This work develops a formal framework for the synthesis of packetized safety controllers for discrete-time polynomial stochastic networked control systems (dt-PSNCS) operating under communication constraints, including uplink delays (plant-to-controller) and downlink packet losses (controller-to-actuator). In this setting, the controller is deployed remotely and exchanges information with the plant over an imperfect wireless communication network. Our proposed approach treats the downlink channel as an erasure channel, with packet losses characterized by an independent Bernoulli process. To systematically manage both uplink delays and downlink packet loss, we first introduce a buffer collocated with the plant that accommodates the packetized safety control (PSC) mechanism. We augment the plant and buffer states into a unified augmented-state representation that accurately captures the system evolution in the presence of communication imperfections. Our proposed framework synthesizes safety controllers based on control barrier certificates (CBCs), providing probabilistic safety guarantees that remain robust in the presence of both communication delays and packet losses. To achieve this, we reformulate the safety constraints as a sum-of-squares (SOS) optimization program, thereby facilitating the systematic construction of CBCs and their corresponding safety controllers. We validate the proposed framework through three (physical) case studies, demonstrating its effectiveness and practical applicability.
From: Abolfazl Lavaei [view email]
[v1]
Tue, 23 Jun 2026 05:10:42 UTC (1,486 KB)
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