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In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
This technical note is concerned with boundary stabilization of multi-dimensional discrete-velocity kinetic models. By exploiting a certain stability structure of the models and adapting an appropriate Lyapunov functional, we derive…
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 proposes a robust control method based on sliding mode design for two-level quantum systems with bounded uncertainties. An eigenstate of the two-level quantum system is identified as a sliding mode. The objective is to design a…
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…
Aiming at the difficulty of stability analysis in practical application of existing control methods, a controller strategy based on lyapunov stability theory is proposed to realize stable control for any control method. In order to…
In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…
The paper endeavours to solve the problem of the necessary and sufficient conditions for testing asymptotic stability of the equilibrium state without using a positive definite or semi-definite Lyapunov function for time-invariant nonlinear…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of control Lyapunov functions (CLFs) and control barrier…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The…
We introduce a method for learning provably stable deep neural network based dynamic models from observed data. Specifically, we consider discrete-time stochastic dynamic models, as they are of particular interest in practical applications…
Nonlinear robust control is pursued by overcoming the drawback of linear robust control that it ignores available information about existing nonlinearities and the resulting controllers may be too conservative, especially when the…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key challenge in designing controllers with stability guarantees for…
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applications. In our previous work, we theoretically analyzed…
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…