Related papers: Control Contraction Metrics, Robust Control and Ob…
In this paper, we propose a new approach to design globally convergent reduced-order observers for nonlinear control systems via contraction analysis and convex optimization. Despite the fact that contraction is a concept naturally suitable…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
Nonlinear contraction theory is a comparatively recent dynamic control system design tool based on an exact differential analysis of convergence, in essence converting a nonlinear stability problem into a linear time-varying stability…
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control…
Contraction theory is a recently developed dynamic analysis and nonlinear control system design tool based on an exact differential analysis of convergence. This paper extends contraction theory to local and global stability analysis of…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
We propose a novel way to integrate control techniques with reinforcement learning (RL) for stability, robustness, and generalization: leveraging contraction theory to realize modularity in neural control, which ensures that combining…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…
In this paper we prove new connections between two frameworks for analysis and control of nonlinear systems: the Koopman operator framework and contraction analysis. Each method, in different ways, provides exact and global analyses of…
An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
We present an algorithm for robust model predictive control with consideration of uncertainty and safety constraints. Our framework considers a nonlinear dynamical system subject to disturbances from an unknown but bounded uncertainty set.…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…
This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…
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…
This paper addresses the problem of stabilization for infinite-dimensional systems. In particular, we design nonlinear stabilizers for both linear and nonlinear abstract systems. We focus on two classes of systems: the first class comprises…
Stability and control of a non-linear system represent an important system configuration that frequently arises in practical engineering. Stability covers a vast range of systems that do not obey the superposition principle and applies to…
We design observer-based controllers to stabilise abstract linear boundary control systems on Hilbert spaces. Our main results introduce conditions for exponential, strong, and polynomial stability, and establish external well-posedness of…
This paper discusses the interplay of symmetries and stability in the analysis and control of nonlinear dynamical systems and networks. Specifically, it combines standard results on symmetries and equivariance with recent convergence…