Related papers: Barriers in Nonlinear Control Systems with Mixed C…
In this paper, the problem of state and input constrained control is addressed, with multidimensional constraints. We obtain a local description of the boundary of the admissible subset of the state space where the state and input…
In this paper, we consider nonlinear control systems subject to bounded disturbances and to both state and input constraints. We introduce the definition of robust admissible set - the set of all initial states from which the state and…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
Multi-objective safety-critical control entails a diligent design to avoid possibly conflicting scenarios and ensure safety. This paper addresses multi-objective safety-critical control through a novel approach utilizing barrier states…
How to steer a given joint state probability density function to another over finite horizon subject to a controlled stochastic dynamics with hard state (sample path) constraints? In applications, state constraints may encode safety…
In this technical communique we study the maximal robust positively invariant set for state-constrained continuous-time nonlinear systems subjected to a bounded disturbance. Extending results from the theory of barriers, we show that this…
We extend in two ways the standard Karush-Kuhn-Tucker optimality conditions to problems with a convex objective, convex functional constraints, and the extra requirement that some of the variables must be integral. While the standard…
This paper develops a sliding mode control based frame work for equality constrained optimization by reformulation the first order Karush Kuhn Tucker conditions as control affine dynamical system. The optimization variables are treated as…
A new systematic approach to the construction of approximate solutions to a class of nonlinear singularly perturbed feedback control systems using the boundary layer functions especially with regard to the possible occurrence of the…
Ensuring the safety of control systems often requires the satisfaction of constraints on states (such as position or velocity), control inputs (such as force), and a mixture of states and inputs (such as power that depends on both velocity…
In this paper, we study an optimal boundary control problem for a model for phase separation taking place in a spatial domain that was introduced by P. Podio-Guidugli in Ric. Mat. 55 (2006), pp. 105-118. The model consists of a strongly…
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…
Here we derive a nonsmooth maximum principle for optimal control problems with both state and mixed constraints. Crucial to our development is a convexity assumption on the "velocity set". The approach consists of applying known…
The paper is an attempt to generalize a methodology, which is similar to the bounded-input bounded-output method currently widely used for the system stability studies. The presented earlier methodology allows decomposition of input space…
Recently, there has been a surge of research on a class of methods called feedback optimization. These are methods to steer the state of a control system to an equilibrium that arises as the solution of an optimization problem. Despite the…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…
We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single semi-definite optimization program. Our formulation can…
We study the controllability of the multidimensional wave equation in a bounded domain with Dirichlet boundary condition, in which the support of the control is allowed to change over time. The exact controllability is reduced to the proof…
We study second-order divergence-form systems on half-infinite cylindrical domains with a bounded and possibly rough base, subject to homogeneous mixed boundary conditions on the lateral boundary and square integrable Dirichlet, Neumann, or…
In this paper we investigate the limits of control for mixed-state quantum systems. The constraint of unitary evolution for non-dissipative quantum systems imposes kinematical bounds on the optimization of arbitrary observables. We…