Related papers: A Lyapunov Function for the Combined System-Optimi…
This paper considers a sampling-based approach to stability verification for piecewise continuous nonlinear systems via Lyapunov functions. Depending on the system dynamics, the candidate Lyapunov function and the set of initial states of…
We propose an automatic and formally sound method for synthesising Lyapunov functions for the asymptotic stability of autonomous non-linear systems. Traditional methods are either analytical and require manual effort or are numerical but…
We study equilibrium selection for invariant measures of stochastic dynamical systems with constant step size, under persistent noise and minimal moment assumptions, in a general quasi-Feller framework. Such dynamics arise in…
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…
Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…
This paper presents a nonlinear model predictive control strategy for stochastic systems with general (state and input dependent) disturbances subject to chance constraints. Our approach uses an online computed stochastic tube to ensure…
We present a technique for learning control Lyapunov-like functions, which are used in turn to synthesize controllers for nonlinear dynamical systems that can stabilize the system, or satisfy specifications such as remaining inside a safe…
In this paper we consider the problem of global asymptotic stabilization with prescribed local behavior. We show that this problem can be formulated in terms of control Lyapunov functions. Moreover, we show that if the local control law has…
This paper considers a wide class of smooth continuous dynamic nonlinear systems (control objects) with a measurable vector of state. The problem is to find a special function (Lyapunov function), which in the framework of the second…
In this work, we propose the design and analysis of a novel continuous robust controller for a class of multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in…
This paper presents an efficient, offline method to simultaneously synthesize controllers and seek closed-loop Lyapunov functions for constrained piecewise affine systems on triangulated subsets of the admissible states. Triangulation…
The present work extends recent results by second author concerning sampled-data feedback stabilization for affine in the control of nonlinear systems with nonzero drift term, under the presence of a generalized control Lyapunov function…
We introduce a novel approach based on stochastic optimization to find the optimal sampling distribution for the data-driven stability analysis of switched linear systems. Our goal is to address limitations of existing approaches, in…
In this paper quotients of control systems which are generalizations of system reductions are used to study the stabilizability property of non-linear systems. Given a control system and its quotient we study under what conditions…
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…
The paper deals with the problem of the sampled data feedback stabilization for autonomous nonlinear systems. The corresponding results extend those obtained in earlier works by the same authors. The sufficient conditions we establish are…
Incremental stability is a property of dynamical and control systems, requiring the uniform asymptotic stability of every trajectory, rather than that of an equilibrium point or a particular time-varying trajectory. Similarly to stability,…
We derive a saturated feedback control, which locally stabilizes a linear reaction-diffusion equation. In contrast to most other works on this topic, we do not assume the Lyapunov stability of the uncontrolled system and consider general…
We propose an encoding and control strategy for the stabilization of switched systems with limited information, supposing the controller is given for each mode. Only the quantized output and the active mode of the plant at each sampling…
This article aims to investigate sufficient conditions for the stability of stochastic differential equations with a random structure, particularly in contexts involving the presence of concentration points. The proof of asymptotic…