Related papers: New high order sufficient conditions for configura…
Most existing necessary conditions for optimal control based on adjoining methods require both state and costate information, yet the unobservability of costates for a given feasible trajectory impedes the determination of optimality in…
We study tracking control for nonlinear systems with known relative degree and stable internal dynamics by the recently introduced technique of Funnel MPC. The objective is to achieve the evolution of the tracking error within a prescribed…
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…
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
This paper addresses the problem of safety-critical control for systems with unknown dynamics. It has been shown that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs subject to state and…
A novel control method is proposed to ensure compatibility of safe, stabilizing control laws, i.e., simultaneous satisfaction of asymptotic stability and constraint satisfaction for nonlinear affine systems. The results are dependent on an…
We consider tracking control of linear minimum phase systems with known arbitrary relative degree which are subject to possible output measurement losses. We provide a control law which guarantees the evolution of the tracking error within…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…
The problem of motion planning for affine control systems consists of designing control inputs that drive a system from a well-defined initial to final states in a desired amount of time. For control systems with drift, however,…
The paper is devoted to deriving necessary optimality conditions in a general optimal control problem for dynamical systems governed by controlled sweeping processes with hard-constrained control actions entering both polyhedral moving sets…
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…
The main purpose of this paper is to establish the first and second order necessary optimality conditions for stochastic optimal controls using the classical variational analysis approach. The control system is governed by a stochastic…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic cost and satisfying state and control constraints can be…
This paper considers the tracking control problem for an unknown nonlinear system with time-varying bounded disturbance subjected to a prescribed performance and input constraints. When performance and input constraints are specified…
This paper presents a new condition for the existence of optimal stationary policies in average-cost continuous-time Markov decision processes with unbounded cost and transition rates, arising from controlled queueing systems. This…
We provide simple necessary and sufficient conditions under which a path constitutes a solution to an infinite-horizon, continuous-time optimal control problem. We prove transversality conditions under standard assumptions. We also present…
In this manuscript, we consider a control system governed by a general ordinary differential equation on a Riemannian manifold, with its endpoints satisfying some inequalities and equalities, and its control constrained to a closed convex…
The combination of control barrier functions (CBFs) and adaptive control -- a framework referred to as adaptive safety -- has proven to be a powerful paradigm for safety-critical control of nonlinear systems with parametric uncertainties.…