Related papers: Constructive Stabilization and Pole Placement by A…
In this work, we study data-driven stabilization of linear time-invariant systems using prior knowledge of system-theoretic properties, specifically stabilizability and controllability. To formalize this, we extend the concept of data…
This work introduces a data-driven control approach for stabilizing high-dimensional dynamical systems from scarce data. The proposed context-aware controller inference approach is based on the observation that controllers need to act…
We study the stabilization of an unpredictable linear control system where the controller must act based on a rate-limited observation of the state. More precisely, we consider the system $X_{n+1} = A_n X_n + W_n - U_n$, where the $A_n$'s…
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…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
We consider the problem of stabilizing an unstable plant driven by bounded noise over a digital noisy communication link, a scenario at the heart of networked control. To stabilize such a plant, one needs real-time encoding and decoding…
We investigate the stabilization of unstable multidimensional partially observed single-sensor and multi-sensor linear systems driven by unbounded noise and controlled over discrete noiseless channels under fixed-rate information…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are assumed to be matched, bounded and structured. In order to…
We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…
This work studies the stabilization for a periodic parabolic system under perturbations in the system conductivity. A perturbed system does not have any periodic solution in general. However, we will prove that the perturbed system can…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
Stochastic switched systems are a relevant class of stochastic hybrid systems with probabilistic evolution over a continuous domain and control-dependent discrete dynamics over a finite set of modes. In the past few years several different…
We consider conformation of a chain consisting of beads connected by stiff springs, where the conformation is determined by the bending angles between the consecutive two springs. A conformation is stabilized or destabilized not only by a…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…
In this paper, we consider a stabilization problem of an uncertain system in a networked control setting. Due to the network, the measurements are quantized to finite-bit signals and may be randomly lost in the communication. We study…
This paper treats the global stabilization problem of continuous-time switched affine systems that have rank-deficient convex combinations of their dynamic matrices. For these systems, the already known set of attainable equilibrium points…
Deterministic many-body systems governed by simple interactions can self-organize into macroscopic patterns, and the determinants of long-time behavior are assumed to be encoded in the initial configuration. Here we show that predictability…
For constrained system which has several independent first integrals, we give a new stabilization method which named adjustment-stabilization method. It can stabilize all known constants of motion for a given dynamical system very well…