Related papers: Supporting Lemmas for RISE-based Control Methods
Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…
Incremental stability is a property of dynamical and control systems, requiring the uniform asymptotic stability of every trajectory, rather than that of an equilibrium point or a particular time-varying trajectory. Similarly to stability,…
Large Language Models (LLMs) like LLaMA, Mistral, and Gemma are increasingly used in decision-critical domains such as healthcare, law, and finance, yet their reliability remains uncertain. They often make overconfident errors, degrade…
A robust observer for performing power system dynamic state estimation (DSE) of a synchronous generator is proposed. The observer is developed using the concept of $\mathcal{L}_{\infty}$ stability for uncertain, nonlinear dynamic generator…
The growing scale and complexity of safety-critical control systems underscore the need to evolve current control architectures aiming for the unparalleled performances achievable through state-of-the-art optimization and machine learning…
Reconfigurable intelligent surface (RIS) has emerged as a promising technique for future wireless communication networks. How to reliably transmit information in a RIS-based communication system arouses much interest. This paper proposes a…
The minimum error entropy (MEE) criterion has been verified as a powerful approach for non-Gaussian signal processing and robust machine learning. However, the implementation of MEE on robust classification is rather a vacancy in the…
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vector fields. To this end, we introduce novel classes of robust…
In the framework of matrix valued observables with low rank means, Stein's unbiased risk estimate (SURE) can be useful for risk estimation and for tuning the amount of shrinkage towards low rank matrices. This was demonstrated by Cand\`es…
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…
A notion of detectability for nonlinear systems is discussed. Within the framework of ``input to state stability'' (ISS), a dual notion of ``output to state stability'' (OSS), and a more complete detectability notion, ``input-output to…
Sampling in control applications is increasingly done non-equidistantly in time. This includes applications in motion control, networked control, resource-aware control, and event-based control. Some of these applications, like the ones…
We consider the problem of designing control laws for stochastic jump linear systems where the disturbances are drawn randomly from a finite sample space according to an unknown distribution, which is estimated from a finite sample of…
Lebesgue's dominated convergence theorem is a crucial pillar of modern analysis, but there are certain areas of the subject where this theorem is deficient. Deeper criteria for convergence of integrals are described in this article.
This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…
We present a new method for developing time step controllers based on a technique from the field of machine learning. This method is applicable to stable time integrators that have an embedded scheme, i.e., that have local error estimation…
This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and intersections of 0-superlevel sets of differentiable functions.…
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…
The existing control barrier function literature generally relies on precise mathematical models to guarantee system safety, limiting their applicability in scenarios with parametric uncertainties. While incremental control techniques have…
Although encrypted control systems ensure confidentiality of private data, it is challenging to detect anomalies without the secret key as all signals remain encrypted. To address this issue, we propose a homomorphic encryption scheme for…