Related papers: Exponential and practical exponential stability of…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…
We present a methodology for designing bilateral boundary controllers for a class of systems consisting of a coupled diffusion equation with an unstable ODE at an arbitrary interior point. A folding transformation is applied about the…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
This paper presents new sufficient conditions for convergence and asymptotic or exponential stability of a stochastic discrete-time system, under which the constructed Lyapunov function always decreases in expectation along the system's…
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…
We initiate a formal study on the use of low-dimensional latent representations of dynamical systems for verifiable control synthesis. Our main goal is to enable the application of verification techniques -- such as Lyapunov or barrier…
This paper studies robust output tracking and disturbance rejection for boundary controlled infinite-dimensional port--Hamiltonian systems including second order models such as the Euler--Bernoulli beam. The control design is achieved using…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…
Hyperexponential stability is investigated for dynamical systems with the use of both, explicit and implicit, Lyapunov function methods. A nonlinear hyperexponential control is designed for stabilizing linear systems. The tuning procedure…
This paper introduces an advanced Lyapunov stability analysis for an attitude observer that has been developed on the special orthogonal group. In particular, when the attitude observer is constructed based on multiple direction…
In this paper, we consider the Kawahara equation in a bounded interval and with a delay term in one of the boundary conditions. Using two different approaches, we prove that this system is exponentially stable under a condition on the…
This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…
This work presents numerical evidences that for discrete dynamical systems with one positive Lyapunov exponent the decay of the distance autocorrelation is always related to the Lyapunov exponent. Distinct decay laws for the distance…
We are interested in the control of forming processes for nonlinear material models. To develop an online control we derive a novel feedback law and prove a stabilization result. The derivation of the feedback control law is based on a…
Lyapunov stability of a mechanical system means that the dynamic response stays bounded in an arbitrarily small neighborhood of a static equilibrium configuration under small perturbations in positions and velocities. This type of stability…
This paper deals with the gradient-based extremum seeking control for multivariable maps under actuator saturation. By exploiting a polytopic embedding of the unknown Hessian, we derive a LMI-based synthesis condition to ensure that the…
In this technical note, we consider the stability properties of a viscously damped Timoshenko beam equation with spatially varying parameters. With the help of the port-Hamiltonian framework, we first prove the existence of solutions and…
In this paper, a novel continuous non-smooth control strategy is proposed to achieve finite-time stabilization of ladder quantum systems. We first design a universal fractional-order control law for a ladder n-level quantum system using a…
We propose an efficient method to compute Lyapunov exponents and Lyapunov eigenvectors of long-range interacting many-particle systems, whose dynamics is described by the Vlasov equation. We show that an expansion of a distribution function…
An effective characterization of chaotic conservative Hamiltonian systems in terms of the curvature associated with a Riemannian metric tensor derived from the structure of the Hamiltonian has been extended to a wide class of potential…