Related papers: A General Class of Control Lyapunov Functions and …
This paper proposes an optimization with penalty-based feedback design framework for safe stabilization of control affine systems. Our starting point is the availability of a control Lyapunov function (CLF) and a control barrier function…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
This paper studies switching stabilization problems for continuous-time switched linear systems. We consider four types of switching stabilizability defined under different assumptions on the switching control input. The most general…
Given a nonlinear control system, a target set, a nonnegative integral cost, and a continuous function $W$, we say that the system is globally asymptotically controllable to the target with W-regulated cost, whenever, starting from any…
In this paper, we deal with the problem of synthesizing static output feedback controllers for stabilizing polynomial systems. Our approach jointly synthesizes a Lyapunov function and a static output feedback controller that stabilizes the…
The problem of data-driven control is addressed here in the context of switched affine systems. This class of nonlinear systems is of particular importance when controlling many types of applications in electronic, biology, medicine, etc.…
We study nonlinear systems with observation errors. The main problem addressed in this paper is the design of feedbacks for globally asymptotically controllable (GAC) control affine systems that render the closed loop systems input to state…
We propose a method for data-driven practical stabilization of nonlinear systems with provable guarantees, based on the concept of Nonparametric Chain Policies (NCPs). The approach employs a normalized nearest-neighbor rule to assign, at…
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…
Using a nonlocal second-order traffic flow model we present an approach to control the dynamics towards a steady state. The system is controlled by the leading vehicle driving at a prescribed velocity and also determines the steady state.…
In the present work, sufficient conditions for global stabilization of nonlinear uncertain systems by means of discrete-delay static output feedback are presented. Illustrating examples show the efficiency of the proposed control strategy.
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…
While stability analysis is a mainstay for control science, especially computing regions of attraction of equilibrium points, until recently most stability analysis tools always required explicit knowledge of the model or a high-fidelity…
Empirically defining some constant probabilistic orbits of f(x) and g(x) iterated high-order functions, the stability of these functions in possible entangled interaction dynamics of the environment through its orbit's connectivity (open…
We consider stability analysis of constrained switching linear systems in which the dynamics is unknown and whose switching signal is constrained by an automaton. We propose a data-driven Lyapunov framework for providing probabilistic…
Lyapunov-like characterizations for non-uniform in time and uniform robust global asymptotic stability of uncertain systems described by retarded functional differential equations are provided.
In this paper we introduce the concept of universal stabilizability: the condition that every solution of a nonlinear system can be globally stabilized. We give sufficient conditions in terms of the existence of a control contraction…
The topic of this manuscript is the stability analysis of continuous-time switched nonlinear systems with constraints on the admissible switching signals. Our particular focus lies in considering signals characterized by upper and lower…
This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…
This paper studies finite-time stability of a class of hybrid systems. We present sufficient conditions in terms of multiple generalized Lyapunov functions for the origin of the hybrid system to be finite-time stable. More specifically, we…