Related papers: Control of nonlinear switched systems based on val…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with parametric uncertainty, which are augmented into the uncertain…
This paper addresses a motion planning problem of the second-order chained form system. The author presents a novel control approach based on switching a state. The second-order chained form system is composed of three subsystems including…
This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…
The research area of Networked Control Systems (NCS) has been the topic of intensive study in the last decade. In this paper we give a contribution to this research line by addressing symbolic control design of (possibly unstable) nonlinear…
Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…
Optimal control of switched systems is challenging due to the discrete nature of the switching control input. The embedding-based approach addresses this challenge by solving a corresponding relaxed optimal control problem with only…
This work presents a control-oriented identification scheme for efficient control design and stability analysis of nonlinear systems. Neural networks are used to identify a discrete-time nonlinear state-space model to approximate…
The paper deals with a non-linear system largely used in biology, which, in certain conditions and for particular coefficient values, becomes linear, with a linear diagram over a large range of time. It can be used as a veritable regulator…
We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…
A novel control design approach for general nonlinear systems is described 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. Extensive…
Control of nonlinear uncertain systems is a common challenge in the robotics field. Nonlinear latent force models, which incorporate latent uncertainty characterized as Gaussian processes, carry the promise of representing such systems…
This paper studies the security of cyber-physical systems under attacks. Our goal is to design system parameters, such as a set of initial conditions and input bounds so that it is secure by design. To this end, we propose new sufficient…
In this paper, we provide a tutorial overview and an extension of a recently developed framework for data-driven control of unknown nonlinear systems with rigorous closed-loop guarantees. The proposed approach relies on the Koopman operator…
We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…
Assessment of the degree of boundedness/stability of multidimensional nonlinear systems with time-dependent and nonperiodic coefficients is an important problem in various applied areas which has no adequate resolution yet. Most of the…
Simulation is essential to validate autonomous driving systems. However, a simple simulation, even for an extremely high number of simulated miles or hours, is not sufficient. We need well-founded criteria showing that simulation does…
This study proposes a feedback linearisation based on the back-stepping method with simple implementation and unique design process to design a non-linear controller with a goal of improving both steady-state and transient stability. The…
Safety is closely related to set invariance for dynamical systems. However, synthesizing a safe invariant set and at the same time synthesizing the associated safe controller still remains challenging. In this note we introduce a simple…