Related papers: Backstepping controller synthesis and characteriza…
Finding Lyapunov functions to certify the stability of control systems has been an important topic for verifying safety-critical systems. Most existing methods on finding Lyapunov functions require access to the dynamics of the system.…
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…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
We develop a finite-dimensional sensitivity framework for studying stability in learning systems whose states include representations, parameters, and update variables. The central object is the \emph{Learning Stability Profile}, a…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
We develop a unified Lyapunov-integral quadratic constraint (IQC) framework for establishing uniform stability of first-order accelerated optimization algorithms in the $\beta$-smooth and $\gamma$-strongly convex regime. Classical analyses…
This paper develops a robust control synthesis method for uncertain linear systems with input saturation in the framework of integral quadratic constraints (IQCs). The system is reformulated as a linear fractional representation (LFR) that…
Controllers for dynamical systems that operate in safety-critical settings must account for stochastic disturbances. Such disturbances are often modeled as process noise in a dynamical system, and common assumptions are that the underlying…
This paper proposes a line integral Lyapunov function approach to stability analysis and stabilization for It\^o stochastic T-S models. Unlike the deterministic case, stability analysis of this model needs the information of Hessian matrix…
We explicitly construct global strict Lyapunov functions for rapidly time-varying nonlinear control systems. The Lyapunov functions we construct are expressed in terms of oftentimes more readily available Lyapunov functions for the limiting…
In this paper we deal with infinite-dimensional nonlinear forward complete dynamical systems which are subject to external disturbances. We first extend the well-known Datko lemma to the framework of the considered class of systems. Thanks…
In this paper we introduce the concept of universal stabilizability: the condition that every solution of a nonlinear system can be globally stabilized. We give sufficient conditions in terms of the existence of a control contraction…
A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
In this paper, the incremental stability of interconnected switched nonlinear systems is discussed. The nature of switching considered is state-dependent. The incremental stability of the switched interconnected system is a stronger…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
This paper presents a novel approach to reinforcement learning (RL) for control systems that provides probabilistic stability guarantees using finite data. Leveraging Lyapunov's method, we propose a probabilistic stability theorem that…
We propose a technique for the design and analysis of adaptation algorithms in dynamical systems. The technique applies both to systems with conventional Lyapunov-stable target dynamics and to ones of which the desired dynamics around the…
Capturing uncertainty in models of complex dynamical systems is crucial to designing safe controllers. Stochastic noise causes aleatoric uncertainty, whereas imprecise knowledge of model parameters leads to epistemic uncertainty. Several…
We propose an extension of the theory of control sets to the case of inputs satisfying a dwell-time constraint. Although the class of such inputs is not closed under concatenation, we propose a suitably modified definition of control sets…