Related papers: Data-Driven Robust Stabilization with Robust DOA E…
The present paper is mainly aimed at introducing a novel notion of stability of nonlinear time-delay systems called Rational Stability. According to the Lyapunov-type, various sufficient conditions for rational stability are reached. Under…
Stability analysis tools are essential to understanding and controlling any engineering system. Recently sum-of-squares (SOS) based methods have been used to compute Lyapunov based estimates for the region-of-attraction (ROA) of polynomial…
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 introduces a novel approach to evaluating the asymptotic stability of equilibrium points in both continuous-time (CT) and discrete-time (DT) nonlinear autonomous systems. By utilizing indirect Lyapunov methods and linearizing…
Neural network controllers have the potential to improve the performance of feedback systems compared to traditional controllers, due to their ability to act as general function approximators. However, quantifying their safety and…
This article addresses the nonadaptive and robust output regulation problem of the general nonlinear output feedback system with error output. The global robust output regulation problem for a class of general output feedback nonlinear…
This work addresses the problem of estimating the region of attraction (RA) of equilibrium points of nonlinear dynamical systems. The estimates we provide are given by positively invariant sets which are not necessarily defined by level…
This paper addresses the problem of Neural Network (NN) based adaptive stability certification in a dynamical system. The state-of-the-art methods, such as Neural Lyapunov Functions (NLFs), use NN-based formulations to assess the stability…
Lyapunov functions play a vital role in the context of control theory for nonlinear dynamical systems. Besides its classical use for stability analysis, Lyapunov functions also arise in iterative schemes for computing optimal feedback laws…
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…
In this article, we present a stabilization feedback law with integral action for conservative abstract linear systems subjected to actuator nonlinearity. Based on the designed control law, we first prove the well-posedness and global…
This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…
We propose a technique for the design and analysis of adaptation algorithms in dynamical systems. The technique applies both to systems with conventional Lyapunov-stable target dynamics and to ones of which the desired dynamics around the…
The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the…
Recent advances in learning-based control leverage deep function approximators, such as neural networks, to model the evolution of controlled dynamical systems over time. However, the problem of learning a dynamics model and a stabilizing…
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…
We present a flexible data-driven method for dynamical system analysis that does not require explicit model discovery. The method is rooted in well-established techniques for approximating the Koopman operator from data and is implemented…
Contraction theory is an analytical tool to study differential dynamics of a non-autonomous (i.e., time-varying) nonlinear system under a contraction metric defined with a uniformly positive definite matrix, the existence of which results…
Numerical solutions for the optimal feedback stabilization of discrete time dynamical systems is the focus of this paper. Set-theoretic notion of almost everywhere stability introduced by the Lyapunov measure, weaker than conventional…
This paper studies the cooperative global robust stabilization problem for a class of nonlinear multi-agent systems. The problem is motivated from the study of the cooperative global robust output regulation problem for the class of…