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This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
The setting of an agent making decisions under uncertainty and under dynamic constraints is common for the fields of optimal control, reinforcement learning, and recently also for online learning. In the online learning setting, the quality…
We propose and analyze a stabilizing iteration scheme for the algorithmic implementation of model predictive control for linear discrete-time systems. Polytopic input and state constraints are considered and handled by means of so-called…
Given the significance of physical measures in understanding the complexity of dynamical systems as well as the noisy nature of real-world systems, investigating the stability of physical measures under noise perturbations is undoubtedly a…
This paper studies quantized control for discrete-time piecewise affine systems. For given stabilizing feedback controllers, we propose an encoding strategy for local stability. If the quantized state is near the boundaries of quantization…
In this paper, we characterize the set of static-state feedbacks that stabilize a given continuous linear-time invariant system pair using dissipative Hamiltonian matrices. This characterization results in a parametrization of feedbacks in…
In this paper, we give sufficient conditions under which linear abstract control systems for which the semigroup is analytic are stabilizable with a bounded feedback. We obtain various characterizations of that property, which extend some…
We address the global stabilization of linear time-invariant (LTI) systems when the magnitude of the control input and its successive time derivatives, up to an order $p\in\mathbb N$, are bounded by prescribed values. We propose a static…
This work studies data-driven switched controller design for discrete-time switched linear systems. Instead of having access to the full system dynamics, an initialization phase is performed, during which noiseless measurements of the state…
In this paper we present a general tool to handle the presence of zero dynamics which are asymptotically but not locally exponentially stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to…
Switching controlled dynamics allows for fast, flexible control design methods for quantum stabilization of pure states and subspaces, which naturally include both Hamiltonian and dissipative control actions. A novel approach to…
The paper addresses the stabilization of nonlinear systems with semi-quadratic cost: quadratic with respect to controls and nonlinear for state variables. Paper presents the effective new feedback synthesis procedure. The novel feedback…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
Local asymptotic stabilizability is a topic of great theoretical interest and practical importance. Broadly, if a system $\dot{x} = f(x,u)$ is locally asymptotically stabilizable, we are guaranteed a feedback controller $u(x)$ that forces…
This paper presents a discrete-time passivity-based analysis of the gradient descent method for a class of functions with sector-bounded gradients. Using a loop transformation, it is shown that the gradient descent method can be interpreted…
We analyze the stability and stabilizability properties of mixed retarded-neutral type systems when the neutral term is allowed to be singular. Considering an operator model of the system in a Hilbert space we are interesting in the…
In this paper, we present a strictly negative imaginary state feedback control methodology for relative degree two negative imaginary systems such as flexible structures with collocated sensors and actuators. We show that by augmenting a…
We show that any globally asymptotically controllable system on any smooth manifold can be globally stabilized by a state feedback. Since we allow discontinuous feedbacks, we interpret the solutions of our systems in the ``sample and hold''…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
Dynamical systems (DSs) provide a framework for high flexibility, robustness, and control reliability and are widely used in motion planning and physical human-robot interaction. The properties of the DS directly determine the robot's…