Related papers: Nonlinear Control Synthesis for a Self-energizing …
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
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…
This paper addresses the problem of asymptotic tracking for high-order control-affine MIMO nonlinear systems with unknown dynamic terms subject to input and transient state constraints. We introduce Barrier Integral Control (BRIC), a novel…
We address the problem of constructing dynamically corrected gates for non-Markovian open quantum systems in settings where limitations on the available control inputs and/or the presence of control noise make existing analytical approaches…
In this paper, we address the problem of closed-loop control of nonlinear dynamical systems subjected to probabilistic uncertainties. More precisely, we design time-varying polynomial feedback controllers to follow the given nominal…
This article studies the event-triggered control problem of general nonlinear systems with time delay. A novel event-triggering scheme is presented with two tunable design parameters, based on a Lyapunov functional result for the…
This paper proposes a family of finite-time controllers for the bilateral teleoperation of fully actuated nonlinear Euler-Lagrange systems. Based on the energy-shaping framework and under the standard assumption of passive interactions with…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
This paper is concerned with the data-driven stabilization of unknown boundary controlled semilinear parabolic systems. The nonlinear dynamics of the system are lifted using a finite number of eigenfunctionals of the Koopman operator…
In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient…
A novel control design approach for general nonlinear systems is presented in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. An efficient…
This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…
The problem of partial stabilization for nonlinear control systems described by the Ito stochastic differential equations is considered. For these systems, we propose a constructive control design method which leads to establishing the…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
This paper addresses the co-design problem of control inputs and execution decisions for event- and self-triggered controls subject to constraints given by the control Lyapunov function and control barrier function. The proposed approach…
In this letter, we present an elegant method to build and maintain an anti-phase configuration of two nonlinear oscillators with different natural frequencies and dynamics described by the sinusoidal phase-reduced model. The anti-phase…
In a recent paper we have shown that data collected from linear systems excited by persistently exciting inputs during low-complexity experiments, can be used to design state- and output-feedback controllers, including optimal Linear…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
Most algorithms for the synthesis of reactive systems focus on the construction of finite-state machines rather than actual programs. This often leads to badly structured, unreadable code. In this paper, we present a bounded synthesis…