Related papers: Control Contraction Metrics and Universal Stabiliz…
This paper provides a new unified framework for second-moment stability of discrete-time linear systems with stochastic dynamics. Relations of notions of second-moment stability are studied for the systems with general stochastic dynamics,…
A system is called positive if the set of non-negative states is left invariant by the dynamics. Stability analysis and controller optimization are greatly simplified for such systems. For example, linear Lyapunov functions and storage…
This paper introduces a novel method for the stability analysis of positive feedback systems with a class of fully connected feedforward neural networks (FFNN) controllers. By establishing sector bounds for fully connected FFNNs without…
Recently, many machine learning optimizers have been analysed considering them as the asymptotic limit of some differential equations when the step size goes to zero. In other words, the optimizers can be seen as a finite difference scheme…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
The paper describes a novel method for studying the stability of nonautonomous dynamical systems. This method based on the flow and divergence of the vector field with coupling to the method of Lyapunov functions. The necessary and…
We explore set-stabilizability by constrained controls, and both controllability and stabilizability can be regarded as the special case of set-stabilizability. We not only clarify how to define an equilibrium point of Schr$\ddot{o}$dinger…
Hyperexponential stability is investigated for dynamical systems with the use of both, explicit and implicit, Lyapunov function methods. A nonlinear hyperexponential control is designed for stabilizing linear systems. The tuning procedure…
This paper derives two stabilizability theorems for a basic class of discrete-time nonlinear systems with multiple unknown parameters. First, we claim that a discrete-time multi-parameter system is stabilizable if its nonlinear growth rate…
We describe a broad dynamical-algebraic framework for analyzing the quantum control properties of a set of naturally available interactions. General conditions under which universal control is achieved over a set of subspaces/subsystems are…
This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions of nonlinear, control-affine dynamical systems. It is shown that the dynamics of any (minimal or excessive) set of transverse coordinates,…
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…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
We consider a stochastic control problem where the set of controls is not necessarily convex and the system is governed by a nonlinear backward stochastic differential equation. We establish necessary as well as sufficient conditions of…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control barrier function (CBF), where the desired equilibrium lies in…
It is well-understood that the robustness of mechanical and robotic control systems depends critically on minimizing sensitivity to arbitrary application-specific details whenever possible. For example, if a system is defined and performs…
This paper deals with the development and analysis of novel time-optimal point-to-point model predictive control concepts for nonlinear systems. Recent approaches in the literature apply a time transformation, however, which do not maintain…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
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…