Related papers: Lyapunov Design for Event-Triggered Exponential St…
A constructive tool of nonlinear control systems design, the method of Control Lyapunov Functions (CLF) has found numerous applications in stabilization problems for continuous time, discrete-time and hybrid systems. In this paper, we…
In this work, we propose a methodology for the expression of necessary and sufficient Lyapunov-like conditions for the existence of stabilizing feedback laws. The methodology is an extension of the well-known Control Lyapunov Function (CLF)…
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe…
Finding a control Lyapunov function (CLF) in a dynamical system with a controller is an effective way to guarantee stability, which is a crucial issue in safety-concerned applications. Recently, deep learning models representing CLFs have…
The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions…
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap…
Self-triggered control is an improvement on event-triggered control methods. Unlike the latter, self-triggered control does not require monitoring the behavior of the system constantly. Instead, self-triggered algorithms predict the events…
Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the domain of robotics. However, model uncertainty remains a persistent challenge,…
This paper introduces the concept of parameter-dependent (PD) control Lyapunov functions (CLFs) for gain-scheduled stabilization of nonlinear parameter-varying (NPV) systems. It shows that given a PD-CLF, a min-norm control law can be…
We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of control Lyapunov functions (CLFs) and control barrier…
Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
Recent advances in the reinforcement learning (RL) literature have enabled roboticists to automatically train complex policies in simulated environments. However, due to the poor sample complexity of these methods, solving RL problems using…
Koopman operator-based methods enable data-driven bilinear representations of unknown nonlinear control systems. Accurate representations often demand significantly higher dimensions than the original system, making control design…
This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control…
Given a Control Lyapunov Function (CLF), Sontag's famous Formula provides a nonlinear state-feedback guaranteeing asymptotic stability of the setpoint. At the same time, a cost function that depends on the CLF is minimized. While there…
Control Lyapunov functions (CLFs) play a vital role in modern control applications, but finding them remains a problem. Recently, the control Lyapunov-value function (CLVF) and robust CLVF have been proposed as solutions for nonlinear…
We investigate the problem of synthesizing switching controllers for stabilizing continuous-time plants. First, we introduce a class of control Lyapunov functions (CLFs) for switched systems along with a switching strategy that yields a…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation…