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We present the conditions under which the time-optimal control problem for a nonlinear non-autonomous linearizable system can be solved by the method of successive approximations, at each step of which a power Markov moment min-problem is…
An optimal control law for networked control systems with a discrete-time linear time-invariant (LTI) system as plant and networks between sensor and controller as well as between controller and actuator is proposed. This controller is…
Adaptive control is subject to stability and performance issues when a learned model is used to enhance its performance. This paper thus presents a deep learning-based adaptive control framework for nonlinear systems with…
From natural language processing to vision, Scaled Dot Product Attention (SDPA) is the backbone of most modern deep learning applications. Unfortunately, its memory and computational requirements can be prohibitive in low-resource settings.…
In this note, a novel methodology that can extract a number of analysis results for linear time-invariant systems (LTI) given only a single trajectory of the considered system is proposed. The superiority of the proposed technique relies on…
Scheduling is a critical part of practical computer systems, and scheduling has also been extensively studied from a theoretical perspective. Unfortunately, there is a gap between theory and practice, as the optimal scheduling policies…
A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Non-convex optimization problems are…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
This paper studies the stability of sampled and networked control systems with sampling and communication times governed by probabilistic clocks. The clock models have few restrictions, and can be used to model numerous phenomena such as…
In this paper, we study the simultaneous stability problem of a finite number of locally inter-connected linear subsystems under practical constraints, including asynchronous and aperiodic sampling, time-varying delays, and measurement…
Infinite-dimensional linear conic formulations are described for nonlinear optimal control problems. The primal linear problem consists of finding occupation measures supported on optimal relaxed controlled trajectories, whereas the dual…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…
The attention mechanism is the computational core of modern Transformer architectures, but its quadratic complexity in the input sequence length is the bottleneck for large-scale inference. This has motivated a rapidly growing body of work…
Neural-based, data-driven analysis and control of dynamical systems have been recently investigated and have shown great promise, e.g. for safety verification or stability analysis. Indeed, not only do neural networks allow for an entirely…
An adaptive controller with bounded l2-gain from disturbances to errors is derived for linear time-invariant systems with uncertain parameters restricted to a finite set. The gain bound refers to the closed loop system, including the…
Deep learning methods have demonstrated significant potential for addressing complex nonlinear control problems. For real-world safety-critical tasks, however, it is crucial to provide formal stability guarantees for the designed…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
This paper studies the synchronization problem of second-order nonlinear multi-agent systems with intermittent communication in the presence of irregular communication delays and possible information loss. The control objective is to steer…
This paper proposes a Lyapunov-based economic MPC scheme for nonlinear sytems with non-monotonic Lyapunov functions. Relaxed Lyapunov-based constraints are used in the MPC formulation to improve the economic performance. These constraints…