Related papers: Lyapunov-Based Boundary Feedback Design For Parabo…
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits short calculation…
Impulse-to-peak response (I2P) analysis for state-space ordinary differential equation (ODE) systems is a well-studied classical problem. However, the techniques employed for I2P optimal control of ODEs have not been extended to partial…
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vector fields. To this end, we introduce novel classes of robust…
The notion of feedback integrators permits Euclidean integration schemes for dynamical systems evolving on manifolds. Here, a constructive Lyapunov function for the attitude dynamics embedded in an ambient Euclidean space has been proposed.…
Recent work has shown that stabilizing an affine control system to a desired state while optimizing a quadratic cost subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control Barrier…
This paper addresses the stabilization of linear systems with multiple time-varying input delays. In scenarios where neither the exact delays information nor their bound is known, we propose a class of linear time-varying state feedback…
Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates the uncertainties and disturbances. In this paper, the idea…
This work deals with the exponential stabilization of a system of three semilinear parabolic partial differential equations (PDEs), written in a strict feedforward form. The diffusion coefficients are considered distinct and the PDEs are…
Control barrier functions (CBFs) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work, we provide a constructive framework for synthesizing CBFs…
For population systems modeled by age-structured hyperbolic partial differential equations (PDEs) that are bilinear in the input and evolve with a positive-valued infinite-dimensional state, global stabilization of constant yield set points…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
Current prosthesis control methods are primarily model-independent - lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, and neglecting use of the natural dynamics of the system.…
In this paper, we propose a novel, computationally efficient reduced order method to solve linear parabolic inverse source problems. Our approach provides accurate numerical solutions without relying on specific training data. The forward…
For quasilinear parabolic partial differential equations (PDEs) that exhibit finite-time blow up in open loop, i.e., under null boundary conditions, we provide an estimate of the region of attraction under cubic feedback laws applied at the…
Reliable control and state estimation of differential drive robots (DDR) operating in dynamic and uncertain environments remains a challenge, particularly when system dynamics are partially unknown and sensor measurements are prone to…
This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called…
We present a computational framework for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety. We show that the existence of a strictly compatible pair of control barrier and control Lyapunov…
We present a control design for semilinear and quasilinear 2x2 hyperbolic partial differential equations with the control input at one boundary and a nonlinear ordinary differential equation coupled to the other. The controller can be…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…