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This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control…
This work is devoted to the construction of explicit feedback control laws for the robust, global, exponential stabilization of general, uncertain, discrete-time, acyclic traffic networks. We consider discrete-time, uncertain network models…
Control Lyapunov Functions (CLF) method gives a constructive tool for stabilization of nonlinear systems. To find a CLF, many methods have been proposed in the literature, e.g. backstepping for cascaded systems and sum of squares (SOS)…
Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization techniques are typically used to convert the complex…
Self-triggered control is an improvement on event-triggered control methods. Unlike the latter, self-triggered control does not require monitoring the behavior of the system constantly. Instead, self-triggered algorithms predict the events…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
This technical note is concerned with boundary stabilization of multi-dimensional discrete-velocity kinetic models. By exploiting a certain stability structure of the models and adapting an appropriate Lyapunov functional, we derive…
This paper proposes the design of gain-scheduled static output feedback controllers for the stabilization of continuous-time linear parameter-varying systems with $\mathcal{L}_2$-gain performance. The system is transformed into the form of…
In this technical communique, we generalize the well-known Lyapunov-based stabilizability and detectability tests for discrete-time linear time-invariant systems to polytopic linear parameter-varying systems using the class of so-called…
Security assessment of large-scale, strongly nonlinear power grids containing thousands to millions of interacting components is a computationally expensive task. Targeting at reducing the computational cost, this paper introduces a…
Adaptive controllers are designed to synchronize two different chaotic systems with uncertainties, including unknown parameters, internal and external perturbations. Lyapunov stability theory is applied to prove that under some conditions…
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…
The deployment of autonomous systems that operate in unstructured environments necessitates algorithms to verify their safety. This can be challenging due to, e.g., black-box components in the control software, or undermodelled dynamics…
Discrete-time Control Barrier Functions (DTCBFs) have recently attracted interest for guaranteeing safety and synthesizing safe controllers for discrete-time dynamical systems. This paper addresses the open challenges of verifying candidate…
Recent advances in learning for control allow to synthesize vehicle controllers from learned system dynamics and maintain robust stability guarantees. However, no approach is well-suited for training linear time-invariant (LTI) controllers…
The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions…
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…
Switched affine systems are often used to model and control complex dynamical systems that operate in multiple modes. However, uncertainties in the system matrices can challenge their stability and performance. This paper introduces a new…
In this paper, we present a provably correct controller synthesis approach for switched stochastic control systems with metric temporal logic (MTL) specifications with provable probabilistic guarantees. We first present the stochastic…
This work presents an approach to synthesize a Lyapunov-like function to ensure incrementally input-to-state stability ($\delta$-ISS) property for an unknown discrete-time system. To deal with challenges posed by unknown system dynamics, we…