Related papers: Control of nonlinear switched systems based on val…
An algorithm for constructing a control function that transfers a wide class of stationary nonlinear systems of ordinary differential equations from an initial state to a final state under certain control restrictions is proposed. The…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
Increasingly demanding performance requirements for dynamical systems motivates the adoption of nonlinear and adaptive control techniques. One challenge is the nonlinearity of the resulting closed-loop system complicates verification that…
In this paper, we propose a symbolic control synthesis method for nonlinear sampled switched systems whose vector fields are one-sided Lipschitz. The main idea is to use an approximate model obtained from the forward Euler method to build a…
This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of iterations and directly yields a partition-based invariance…
A novel control design approach for general nonlinear systems is presented in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. An efficient…
This paper studies the identification of nonlinearly parameterized control systems in given experiments. Several identifiability criteria are established and an implementable algorithm is proposed for practicality with the convergence rate…
We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
This paper addresses the problem of data-driven computation of controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. With a focus on continuous-space stochastic…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
The objective of this paper is to solve the controller synthesis problem for bisimulation equivalence in a wide variety of scenarios including discrete-event systems, nonlinear control systems, behavioral systems, hybrid systems and many…
This paper studies the structural controllability of a class of uncertain switched linear systems, where the parameters of subsystems state matrices are either unknown or zero. The structural controllability is a generalization of the…
This brief presents a simple derivation of the standard model-free control for the non-minimum phase systems. The robustness of the proposed method is studied in simulation considering the case of switched systems.
This article presents a scalable implementation of nonlinear Gramian-based control synthesis for control-affine systems, including a minimum energy control construction. These synthesis advances are achieved by addressing key computational…
Coupling of chaotic oscillators has evidenced conditions where synchronization is possible, therefore a nonlinear system can be driven to a particular state through input from a similar oscillator. Here we expand this concept of control of…
This paper presents a probabilistic model validation methodology for nonlinear systems in time-domain. The proposed formulation is simple, intuitive, and accounts both deterministic and stochastic nonlinear systems with parametric and…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…