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This work establishes the first rigorous stability guarantees for approximate predictors in delay-adaptive control of nonlinear systems, addressing a key challenge in practical implementations where exact predictors are unavailable. We…
A generalized ResNet architecture for adaptive control of nonlinear systems with black box uncertainties is developed. The approach overcomes limitations in existing methods by incorporating pre-activation shortcut connections and a zeroth…
We study singularly perturbed systems that exhibit input-to-state stability (ISS) with fixed-time properties in the presence of bounded disturbances. In these systems, solutions converge to the origin within a time frame independent of…
Despite Neural Ordinary Differential Equations (Neural ODEs) exhibiting intrinsic robustness, existing methods often impose Lyapunov stability for formal guarantees. However, these methods still face a fundamental accuracy-robustness…
Optimization plays a central role in intelligent systems and cyber-physical technologies, where speed and reliability of convergence directly impact performance. In control theory, optimization-centric methods are standard: controllers are…
We use Lyapunov-like functions and convex optimization to propagate uncertainty in the initial condition of nonlinear systems governed by ordinary differential equations. We consider the full nonlinear dynamics without approximation,…
The non-asymptotic analysis of Stochastic Gradient Descent (SGD) typically yields bounds that decompose into a bias term and a variance term. In this work, we focus on the bias component and study the extent to which SGD can match the…
The paper is devoted to a design of a common bounded feedback control steering a system of an arbitrary number of linear oscillators to the equilibrium. At high energies, the control is based on the asymptotic theory of reachable sets of…
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
The energy mix of future power systems will include high shares of wind power and solar PV. These generation facilities are generally connected via power-electronic inverters. While conventional generation responds dynamically to the state…
The ever increasing complexity of real-time control systems results in significant deviations in the timing of sensing and actuation, which may lead to degraded performance or even instability. In this paper we present a method to analyze…
This paper is concerned with the study of both, local and global, uniform asymptotic stability for switched nonlinear time-varying (NLTV) systems through the detectability of output-maps. With this aim the notion of reduced limiting control…
This paper proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including…
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…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and,…
Motivated by recent applications of the Lyapunov's method in artificial neural networks, which could be considered as dynamical systems for which the convergence of the system trajectories to equilibrium states is a necessity. We re-look at…
The Lyapunov inequality is an indispensable tool for stability analysis in linear control theory. It provides a necessary and sufficient condition for the stability of an autonomous linear-time invariant system in terms of the existence of…
Stability margins for linear time-varying (LTV) and switched-linear systems are traditionally computed via quadratic Lyapunov functions, and these functions certify the stability of the system under study. In this work, we show how the more…
This paper considers the stabilization of unknown switched linear systems using data. Instead of a full system model, we have access to a finite number of trajectories of each of the different modes prior to the online operation of the…