Related papers: Necessary and Sufficient Lyapunov-Like Conditions …
In this paper we address the problem of control Lyapunov-barrier function (CLBF)-based safe stabilization for a class of nonlinear control-affine systems. A difficulty may arise for the case when a constraint has the relative degree larger…
Adaptive controllers are designed to synchronize two different chaotic systems with uncertainties, including unknown parameters, internal and external perturbations. Lyapunov stability theory is applied to prove that under some conditions…
Reinforcement learning (RL) in the context of control systems offers wide possibilities of controller adaptation. Given an infinite-horizon cost function, the so-called critic of RL approximates it with a neural net and sends this…
We propose an encoding and control strategy for the stabilization of switched systems with limited information, supposing the controller is given for each mode. Only the quantized output and the active mode of the plant at each sampling…
Reinforcement Learning (RL) has shown promise in control tasks but faces significant challenges in real-world applications, primarily due to the absence of safety guarantees during the learning process. Existing methods often struggle with…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
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…
Hyperbolic systems in one dimensional space are frequently used in modeling of many physical systems. In our recent works, we introduced time independent feedbacks leading to the finite stabilization for the optimal time of homogeneous…
We provide several characterizations of convergence to unstable equilibria in nonlinear systems. Our current contribution is three-fold. First we present simple algebraic conditions for establishing local convergence of non-trivial…
There are two main challenges in control of hybrid systems which are to guarantee the closed-loop stability and reduce computational complexity. In this paper, we propose the exponential stability conditions of hybrid systems which are…
We develop a direct Lyapunov method for the almost sure open-loop stabilizability and asymptotic stabilizability of controlled degenerate diffusion processes. The infinitesimal decrease condition for a Lyapunov function is a new form of…
We propose the first generalization of Sontag s universal controller to systems not affine in the control, particularly, to PDEs with boundary actuation. We assume that the system admits a control Lyapunov function (CLF) whose derivative,…
Recently, a number of counter examples have surfaced where Linear Parameter-Varying (LPV) control synthesis applied to achieve asymptotic output tracking and disturbance rejection for a nonlinear system, fails to achieve the desired…
This work primarily focuses on synthesizing a controller that guarantees an unknown continuous-time system to be incrementally input-to-state stable ($\delta$-ISS). In this context, the notion of $\delta$-ISS control Lyapunov function…
Design and analysis of stabilizing controllers with safety guarantees for nonlinear systems have received considerable attention in recent years. Control Lyapunov-barrier functions (CLBFs) provide a powerful framework for simultaneously…
A combination of control Lyapunov functions (CLFs) and control barrier functions (CBFs) forms an efficient framework for addressing control challenges in safe stabilization. In our previous research, we developed an analytical control…
This paper presents a method to design a min-norm Control Lyapunov Function (CLF)-based stabilizing controller for a control-affine system with uncertain dynamics using Gaussian Process (GP) regression. In order to estimate both state and…
A stochastic model predictive control (MPC) framework is presented in this paper for nonlinear affine systems with stability and feasibility guarantee. We first introduce the concept of stochastic control Lyapunov-barrier function (CLBF)…
It is an interesting open problem to achieve adaptive prescribed-time control for strict-feedback systems with unknown and fast or even abrupt time-varying parameters. In this paper we present a solution with the aid of several design and…
Safety and stability are essential properties of control systems. Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are powerful tools to ensure safety and stability respectively. However, previous approaches typically…