Related papers: Automatic Synthesis of Piecewise Linear Quadratic …
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…
We compute probabilistic controlled invariant sets for nonlinear systems using Gaussian process state space models, which are data-driven models that account for unmodeled and unknown nonlinear dynamics. We propose a semidefinite…
Preliminary results of our investigations on solving indefinite qua\-dra\-tic programs by dynamical systems are given. First, dynamical systems corresponding to two fundamental DC programming algorithms to deal with indefinite quadratic…
LPV systems with piecewise constant parameters subject to spontaneous Poissonian jumps are a class of systems that does not seem to have been thoroughly considered in the literature. We partially fill this gap here by providing sufficient…
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap…
Safety-critical control of piecewise affine (PWA) systems under bounded additive disturbances requires guarantees not for individual states but for entire state sets simultaneously: a single control action must steer every state in the set…
Model inversion is a fundamental technique in feedforward control. Unstable inverse models present a challenge in that useful feedforward control trajectories cannot be generated by directly propagating them. Stable inversion is a process…
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…
Achieving optimal steady-state performance in real-time is an increasingly necessary requirement of many critical infrastructure systems. In pursuit of this goal, this paper builds a systematic design framework of feedback controllers for…
We present necessary and sufficient optimality conditions for finite time optimal control problems for a class of hybrid systems described by linear complementarity models. Although these optimal control problems are difficult in general…
Quadratic programs arise in robotics, communications, smart grids, and many other applications. As these problems grow in size, finding solutions becomes much more computationally demanding, and new algorithms are needed to efficiently…
Standard model-based control design deteriorates when the system dynamics change during operation. To overcome this challenge, online and adaptive methods have been proposed in the literature. In this work, we consider the class of…
We present a stochastic predictive controller for discrete time linear time invariant systems under incomplete state information. Our approach is based on a suitable choice of control policies, stability constraints, and employment of a…
Designing a static analysis is generally a substantial undertaking, requiring significant expertise in both program analysis and the domain of the program analysis, and significant development resources. As a result, most program analyses…
In this paper we provide a set of stability conditions for linear time-varying networked control systems with arbitrary topologies using a piecewise quadratic switching stabilization approach with multiple quadratic Lyapunov functions. We…
We propose a novel flexible-step model predictive control algorithm for unknown linear time-invariant discrete-time systems. The goal is to asymptotically stabilize the system without relying on a pre-collected dataset that describes its…
Predictive safety filters provide a way of projecting potentially unsafe inputs, proposed, e.g. by a human or learning-based controller, onto the set of inputs that guarantee recursive state and input constraint satisfaction by leveraging…
This paper presents a novel approach to ensure the safety of continuous-time linear dynamical systems controlled by a neural network (NN) based state-feedback. Our method capitalizes on the use of continuous piece-wise affine (PWA)…
In the context of studying periodic processes, this paper investigates first under which conditions switching affine systems in the plane generate stable limit cycles. Based on these conditions, a design methodology is proposed by which the…
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be difficult, especially for large or complex spaces. This paper…