Related papers: Lyapunov-Based Boundary Feedback Design For Parabo…
We consider the problem of designing output feedback controllers that use measurements from a set of landmarks to navigate through a cell-decomposable environment using duality, Control Lyapunov and Barrier Functions (CLF, CBF), and Linear…
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 presents a method to stabilize state and input constrained nonlinear systems using an offline optimization on variable triangulations of the set of admissible states. For control-affine systems, by choosing a continuous piecewise…
This paper addresses the problem of input-to-state stabilization for a class of parabolic equations with time-varying coefficients, as well as Dirichlet and Robin boundary disturbances. By using time-invariant kernel functions, which can…
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,…
The notion of the relaxed Robust Control Lyapunov Function (relaxed RCLF) is introduced and is exploited for the design of robust feedback stabilizers for nonlinear systems. Particularly, it is shown for systems with input constraints that…
This paper presents and implements an iterative feedback design algorithm for stabilisation of discrete-time switched systems under arbitrary switching regimes. The algorithm seeks state feedback gains so that the closed-loop switching…
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 solve the feedback stabilization problem for a tank, with friction, containing a liquid modeled by the viscous Saint-Venant system of Partial Differential Equations. A spill-free exponential stabilization is achieved, with robustness to…
The present paper addresses the topic of boundary output feedback stabilization of parabolic-type equations, governed by linear differential operators which can be diagonalized by the introduction of adequate weighting functions (by means…
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…
We present a novel methodology for designing output-feedback backstepping boundary controllers for an unstable 1-D diffusion-reaction partial differential equation with spatially-varying reaction. Using "folding" transforms the parabolic…
In this work, a predictive control framework is presented for feedback stabilization of nonlinear systems. To achieve this, we integrate Koopman operator theory with Lyapunov-based model predictive control (LMPC). The main idea is to…
We construct a robust stabilizing feedback law for the viscous Saint-Venant system of Partial Differential Equations (PDEs) with surface tension and without wall friction. The Saint-Venant system describes the movement of a tank which…
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method…
A popular approach to designing finite-dimensional boundary controllers for partial differential equations (PDEs) is to decompose the PDE into independent modes and focus on the dominant ones while neglecting highly damped residual modes.…
A boundary feedback stabilisation problem of non-uniform linear hyperbolic systems of balance laws with additive disturbance is discussed. A continuous and a corresponding discrete Lyapunov function is defined. Using an…
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…
Control Lyapunov Functions (CLF) method gives a constructive tool for stabilization of nonlinear systems. To find a CLF, many methods have been proposed in the literature, e.g. backstepping for cascaded systems and sum of squares (SOS)…
This paper considers the backstepping design of state feedback controllers for coupled linear parabolic partial integro-differential equations (PIDEs) of Volterra-type with distinct diffusion coefficients, spatially-varying parameters and…