Related papers: Stabilization with Closed-loop DOA Enlargement: An…
We consider a system of linear hyperbolic PDEs where the state at one of the boundary points is controlled using the measurements of another boundary point. Because of the disturbances in the measurement, the problem of designing dynamic…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
This paper presents a novel scalable framework to solve the optimization of a nonlinear system with differential algebraic equation (DAE) constraints that enforce the asymptotic stability of the underlying dynamic model with respect to…
Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…
A scheme for stabilizing stochastic approximation iterates by adaptively scaling the step sizes is proposed and analyzed. This scheme leads to the same limiting differential equation as the original scheme and therefore has the same…
This paper presents an algorithm for computing inner estimates of the regions of attraction of limit cycles of a nonlinear hybrid system. The basic procedure is: (1) compute the dynamics of the system transverse to the limit cycle; (2) from…
In this article, we propose a Lyapunov stability approach to analyze the convergence of the density operator of a quantum system. In contrast to many previously studied convergence analysis methods for invariant density operators which use…
Designing control policies for stabilization tasks with provable guarantees is a long-standing problem in nonlinear control. A crucial performance metric is the size of the resulting region of attraction, which essentially serves as a…
This article proposes an approach to construct a Lyapunov function for a linear coupled impulsive system consisting of two time-invariant subsystems. In contrast to various variants of small-gain stability conditions for coupled systems,…
Future Active Debris Removal (ADR) and On Orbit Servicing (OOS) missions demand for elaborate closed loop controllers. Feasible control architectures should take into consideration the inherent coupling of the free floating dynamics and the…
A delayed feedback control framework for stabilizing unstable periodic orbits of linear periodic time-varying systems is proposed. In this framework, act-and-wait approach is utilized for switching a delayed feedback controller on and off…
Stability enforcement remains a challenge in data-driven control paradigms, where no parametrised model of the system is available. For instance, the system's instabilities can be estimated in order to enforce a closed-loop stability…
The estimation for the region of attraction (ROA) of an asymptotically stable equilibrium point is crucial in the analysis of nonlinear systems. There has been a recent surge of interest in estimating the solution to Zubov's equation, whose…
This paper is devoted to the stabilization problem for nonlinear driftless control systems by means of a time-varying feedback control. It is assumed that the vector fields of the system together with their first order Lie brackets span the…
In an N-level quantum mechanical system, the problem of unitary feedback stabilization of mixed density operators to periodic orbits admits a natural Lyapunov-based time-varying feedback design. A global description of the domain of…
We explore the problem of stabilization of unstable periodic orbits in discrete nonlinear dynamical systems. This work proposes the generalization of predictive control method for resolving the stabilization problem. Our method embodies the…
We consider the adaptive control problem for discrete-time, nonlinear stochastic systems with linearly parameterised uncertainty. Assuming access to a parameterised family of controllers that can stabilise the system in a bounded set within…
Predictive safety filters provide a way of projecting potentially unsafe inputs, proposed, e.g. by a human or learning-based controller, onto the set of inputs that guarantee recursive state and input constraint satisfaction by leveraging…
Analysis of nonlinear autonomous systems typically involves estimating domains of attraction, which have been a topic of extensive research interest for decades. Despite that, accurately estimating domains of attraction for nonlinear…
In a previous work we developed a convex infinite dimensional linear programming (LP) approach to approximating the region of attraction (ROA) of polynomial dynamical systems subject to compact basic semialgebraic state constraints. Finite…