Related papers: Lyapunov-Based Boundary Feedback Design For Parabo…
We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control barrier function (CBF), where the desired equilibrium lies in…
In this paper, we present a framework for Stability Analysis of Systems of Coupled Linear Partial-Differential Equations. The class of PDE systems considered in this paper includes parabolic, elliptic and hyperbolic systems with Dirichelet,…
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…
This paper considers the backstepping state feedback control of coupled linear parabolic PDEs with spatially varying coefficients and bilateral actuation. By making use of the folding technique, a system representation with unilateral…
This paper introduces harmonic control Lyapunov barrier functions (harmonic CLBF) that aid in constrained control problems such as reach-avoid problems. Harmonic CLBFs exploit the maximum principle that harmonic functions satisfy to encode…
A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…
In this paper we use SOS and SDP to design output feedback controllers for a class of one-dimensional parabolic partial differential equations with point measurements and point actuation. Our approach is based on the use of SOS to search…
This brief constructs the adaptive backstepping control scheme for a class of pure-feedback systems with input delay and full state constraints. With the help of Mean Value Theorem, the pure-feedback system is transformed into…
This paper studies the boundary feedback stabilization of a class of diagonal infinite-dimensional boundary control systems. In the studied setting, the boundary control input is subject to a constant delay while the open loop system might…
Adaptive control strategies usually are designed based on gradient methods for the sake of simplicity in Lyapunov analysis. However, least squares (LS)-based parameter identifiers, with proper selection of design parameters, exhibit better…
This paper presents a method to design a min-norm Control Lyapunov Function (CLF)-based stabilizing controller for a control-affine system with uncertain dynamics using Gaussian Process (GP) regression. In order to estimate both state and…
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…
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…
Here we design boundary feedback stabilizers to unbounded trajectories, for semi-linear stochastic heat equation with cubic non-linearity. The feedback controller is linear, given in a simple explicit form and involves only the…
We extend results on backstepping hybrid feedbacks by exploiting synergistic Lyapunov function and feedback (SLFF) pairs in a generalized form. Compared to existing results, we delineate SLFF pairs that are ready-made and do not require…
This paper proposes a novel controller framework that provides trajectory tracking for an Aerial Manipulator (AM) while ensuring the safe operation of the system under unknown bounded disturbances. The AM considered here is a 2-DOF…
This paper studies switching stabilization problems for general switched nonlinear systems. A piecewise smooth control-Lyapunov function (PSCLF) approach is proposed and a constructive way to design a stabilizing switching law is developed.…
Recent methods using Reinforcement Learning (RL) have proven to be successful for training intelligent agents in unknown environments. However, RL has not been applied widely in real-world robotics scenarios. This is because current…
This paper studies the problem of decentralized measurement feedback stabilization of nonlinear interconnected systems. As a natural extension of the recent development on control vector Lyapunov functions, the notion of output control…
Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measurements are unavailable. In this work, we address the problem of…