Related papers: Global Exponential Stabilization of Freeway Models
For systems evolving on a Riemannian manifold, we propose converse Lyapunov theorems for asymptotic and exponential stability. The novelty of the proposed approach is that is does not rely on local Euclidean coordinate, and is thus valid on…
Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where traffic participants follow certain human-encoded rules that…
For the unicycle system, we provide constructive methods for the design of feedback laws that have one or more of the following properties: being nonmodular and globally exponentially stabilizing, inverse optimal, robust to arbitrary…
This paper proposes a general framework for constructing feedback controllers that drive complex dynamical systems to "efficient" steady-state (or slowly varying) operating points. Efficiency is encoded using generalized equations which can…
This paper investigates the robustness of exponential stability of a class of switched systems described by linear functional differential equations under arbitrary switching. We will measure the stability robustness of such a system,…
In this paper, we present output feedback boundary stabilization for a class of semilinear parabolic PDEs with a boundary measurement and an actuation located at the same place. The method uses backstepping transformations, where the state…
We present a true-dynamics-agnostic, statistically rigorous framework for establishing exponential stability and safety guarantees of closed-loop, data-driven nonlinear control. Central to our approach is the novel concept of conformal…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
Robust stabilization conditions for uncertain switched affine systems subject to a unitary input delay are presented. They are obtained through the Lyapunov framework and a min-switching state-feedback predictive control law. The result…
In this paper, we extend well-known relationships between global asymptotic controllability, sample stabilizability, and the existence of a control Lyapunov function to a wide class of control systems with unbounded controls, which includes…
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the…
A systematic approach to maximise estimates on the region of attraction in the exponential stabilisation of geometrically exact (nonlinear) beam models via boundary feedback is presented. Starting from recently established stability results…
Robust data-driven controllers typically rely on datasets from previous experiments, which embed information on the variability of the system parameters across past operational conditions. Complementarily, data collected online can…
We propose several parametrization-free solutions to the problem of quantum state reduction control by means of continuous measurement and smooth quantum feedback. In particular, we design a feedback law for which almost global stochastic…
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…
This paper provides necessary conditions and sufficient conditions for the (global) Input-to-State Stability property of simple uncertain vehicular-traffic network models under the effect of a PI-regulator. Local stability properties for…
The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…
We consider nonlinear control systems of the so-called generalized triangular form (GTF) with time-varying and periodic dynamics which linearly depends on some external disturbances. Our purpose is to construct a feedback controller which…
We study the concentration phenomenon for discrete-time random dynamical systems with an unbounded state space. We develop a heuristic approach towards obtaining exponential concentration inequalities for dynamical systems using an entirely…