Related papers: On a class of generating vector fields for the ext…
In the present paper, a novel result for inferring uniform global, not semi-global, exponential stability in the sense of Lyapunov with respect to input-affine systems from global uniform exponential stability properties with respect to…
For a control system two major issues can be considered: the stabilizability with respect to a given target, and the minimization of an integral functional (while the trajectories reach this target). Here we consider a problem where…
We introduce a type of safe extremum seeking (ES) controller, which minimizes an unknown objective function while also maintaining practical positivity of an unknown barrier function. We show semi-global practical asymptotic stability of…
In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The…
This paper introduces extremum seeking (ES) algorithms designed to achieve perfect tracking of arbitrary time-varying extremum. In contrast to classical ES approaches that employ constant frequencies and controller gains, our algorithms…
We introduce and analyze the stability of a class of event-triggered extremum-seeking algorithms designed to solve resource-aware, model-free, optimization problems. Leveraging recent advances in Lie-Bracket Averaging for hybrid systems, we…
This paper addresses the nonovershooting control problem for strict-feedback nonlinear systems with unknown control direction. We propose a method that integrates extremum seeking with Lie bracket-based design to achieve approximately…
We study the problem of distance-based formation control in autonomous multi-agent systems in which only distance measurements are available. This means that the target formations as well as the sensed variables are both determined by…
The paper describes a novel method for studying the stability of nonautonomous dynamical systems. This method based on the flow and divergence of the vector field with coupling to the method of Lyapunov functions. The necessary and…
This paper investigates extremum seeking control for a torque-controlled antenna pointing system without direct angular measurements. We consider a two-degree-of-freedom (2-DOF) antenna system that receives an unknown signal from its…
With reference to an optimal control problem where the state has to approach asymptotically a closed target while paying a non-negative integral cost, we propose a generalization of the classical dissipative relation that defines a Control…
We generalize the Safe Extremum Seeking algorithm to address the minimization of an unknown objective function subject to multiple unknown inequality and equality constraints, relying on recent results of gradient flow systems. These…
This paper studies the extremum seeking control (ESC) problem for a class of constrained nonlinear systems. Specifically, we focus on a family of constraints allowing to reformulate the original nonlinear system in the so-called…
In this paper, we propose an adaptive control law for completely unknown scalar linear systems based on Lie-bracket approximation methods. We investigate stability and convergence properties for the resulting Lie-bracket system, compare our…
In this paper, we prove the exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework. To this end, we propose a Lyapunov candidate function different from the Hamiltonian of the system.…
We present a technique for learning control Lyapunov-like functions, which are used in turn to synthesize controllers for nonlinear dynamical systems that can stabilize the system, or satisfy specifications such as remaining inside a safe…
This paper discusses the design of an extremum seeking controller that relies on a monitoring function for a class of SISO uncertain nonlinear systems characterized by arbitrary and uncertain relative degree. Our demonstration illustrates…
In this paper, we present a novel Newton-based extremum seeking controller for the solution of multivariable model-free optimization problems in static maps. Unlike existing asymptotic and fixed-time results in the literature, we present a…
In this paper, an asymptotic stability proof for a class of methods for inexact nonlinear model predictive control is presented. General Q-linearly convergent online optimization methods are considered and an asymptotic stability result is…
For a given closed target we embed the dissipative relation that defines a control Lyapunov function in a more general differential inequality involving Hamiltonians built from iterated Lie brackets. The solutions of the resulting extended…