Related papers: Robust Asymptotic Stabilization of Nonlinear Syste…
In this paper, we present a data-driven controller design method for continuous-time nonlinear systems, using no model knowledge but only measured data affected by noise. While most existing approaches focus on systems with polynomial…
There have been many recent efforts to study accelerated optimization algorithms from the perspective of dynamical systems. In this paper, we focus on the robustness properties of the time-varying continuous-time version of these dynamics.…
This paper addresses the problem of stabilizing a part of variables for control systems described by stochastic differential equations of the Ito type. The considered problem is related to the asymptotic stability property of invariant sets…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
We consider an ensemble of mass collisionless particles, which interact mutually either by an attraction of Newton's law of gravitation or by an electrostatic repulsion of Coulomb's law, under a background downward gravity in a…
In this paper we explore the stabilization of closed invariant sets for passive systems, and present conditions under which a passivity-based feedback asymptotically stabilizes the goal set. Our results rely on novel reduction principles…
In this paper we first study the fixed-time stabilizability of discrete-time switched linear control systems. Using a geometric approach, we derive conditions under which such systems can be stabilized within a prescribed number of steps,…
This work is concerned with robust filtering of nonlinear sampled-data systems with and without exact discrete-time models. A linear matrix inequality (LMI) based approach is proposed for the design of robust $H_{\infty}$ observers for a…
Power system dynamics are naturally nonlinear. The nonlinearity stems from power flows, generator dynamics, and electromagnetic transients. Characterizing the nonlinearity of the dynamical power system model is useful for designing superior…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
In this work, we propose a non-parametric technique for online modeling of systems with unknown nonlinear Lipschitz dynamics. The key idea is to successively utilize measurements to approximate the graph of the state-update function using…
For general nonlinear autonomous systems, a Lyapunov characterization for the possibility of semi-global asymptotic stabilizability by means of a time-varying sampled-data feedback is established. We exploit this result in order to derive a…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
The aim of this work is to design an explicit finite dimensional boundary feedback controller of sampled-data form for locally exponentially stabilizing the equilibrium solutions to semilinear parabolic equations. The feedback controller is…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
This paper is devoted to the stabilization problem for nonlinear driftless control systems by means of a time-varying feedback control. It is assumed that the vector fields of the system together with their first order Lie brackets span the…
Estimation of solution norms and stability for time-dependent nonlinear systems is ubiquitous in numerous applied and control problems. Yet, practically valuable results are rare in this area. This paper develops a novel approach, which…
The purpose of this article is to introduce the original results which devoted with the nonlinear control system problems involves of nonlinear differential equations of fractional orders. Thus, this system is described with a mixed of…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…