Related papers: Lyapunov Functions in Piecewise Linear Systems: Fr…
Fixed-time stable dynamical systems are capable of achieving exact convergence to an equilibrium point within a fixed time that is independent of the initial conditions of the system. This property makes them highly appealing for designing…
This paper considers a sampling-based approach to stability verification for piecewise continuous nonlinear systems via Lyapunov functions. Depending on the system dynamics, the candidate Lyapunov function and the set of initial states of…
This paper deals with the problem of limit cycle bifurcations for piecewise smooth integrable differential systems with four zones. When the unperturbed system has a family of periodic orbits, the first order Melnikov function is derived…
We propose a class of locally Lipschitz functions with piecewise structure for use as Lyapunov functions for hybrid dynamical systems. Subject to some regularity of the dynamics, we show that Lyapunov inequalities can be checked only on a…
We consider an abstract class of infinite-dimensional dynamical systems with inputs. For this class, the significance of noncoercive Lyapunov functions is analyzed. It is shown that the existence of such Lyapunov functions implies…
This paper considers the problem of switching between two periodic motions, also known as limit cycles, to create agile running motions. For each limit cycle, we use a control Lyapunov function to estimate the region of attraction at the…
We present a new approach for constructing polytope Lyapunov functions for continuous-time linear switching systems (LSS). This allows us to decide the stability of LSS and to compute the Lyapunov exponent with a good precision in…
In this paper, we study the construction of Lyapunov functions based on first order approximations. In a first part, the study of local exponential stability property of a transverse invariant manifold is considered. This part is mainly a…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
This paper is concerned with stability analysis of nonlinear time-varying systems by using Lyapunov function based approach. The classical Lyapunov stability theorems are generalized in the sense that the time-derivative of the Lyapunov…
We have recently constructed a piecewise quadratic Lyapunov function to prove the boundedness of the reachable values set of piecewise affine discrete-time systems. The method developed also provided an overapproximation of the reachable…
We propose new methods for learning control policies and neural network Lyapunov functions for nonlinear control problems, with provable guarantee of stability. The framework consists of a learner that attempts to find the control and…
Lyapunov's theorem provides a fundamental characterization of the stability of dynamical systems. This paper presents a categorical framework for Lyapunov theory, generalizing stability analysis with Lyapunov functions categorically. Core…
Determination of stability and instability of singular points in nonlinear dynamical systems is an important issue that has attracted considerable attention in different fields of engineering and science. So far, different well-defined…
Motivated by models that arise in controlled ship maneuvering, we analyze Hopf bifurcations in systems with piecewise smooth nonlinear part. In particular, we derive explicit formulas for the generalization of the first Lyapunov coefficient…
This paper proposes novel approaches for designing control Lyapunov functions (CLFs) for constrained linear systems. We leverage recent configuration-constrained polyhedral computing techniques to devise piecewise affine convex CLFs.…
In this paper we are concerned with determining lower bounds of the number of limit cycles for piecewise polynomial holomorphic systems with a straight line of discontinuity. We approach this problem with different points of view: study of…
We address the stability problem for linear switching systems with mode-dependent restrictions on the switching intervals. Their lengths can be bounded as from below (the guaranteed dwell-time) as from above. The upper bounds make this…
Lyapunov functions play a fundamental role in analyzing the stability and convergence properties of optimization methods. In this paper, we propose a novel and straightforward approach for constructing Lyapunov functions for first-order…
Hyperbolic systems in one dimensional space are frequently used in modeling of many physical systems. In our recent works, we introduced time independent feedbacks leading to the finite stabilization for the optimal time of homogeneous…