Related papers: On Parameter Selection of Nonsingular Predefined-t…
This paper studies the behavior of singularly perturbed nonlinear differential equations with boundary-layer solutions that do not necessarily converge to an equilibrium. Using the average of the fast variable and assuming the boundary…
Finite time analysis of the continuous system is investigated through both stability and stabilization based on Sum of squares programming. A systematic approach is proposed to construct Lyapunov function and Control Lyapunov function for…
Proportional control can be realized directly through the amplification of analog signals, and it also has the advantage of easy tuning parameters in digital signal control. However, it is difficult for the proportional control to preset…
We consider a nonlinear discrete stochastic control system, and our goal is to design a feedback control policy in order to lead the system to a prespecified state. We adopt a stochastic approximation viewpoint of this problem. It is known…
Motivated by a real problem in steel production, we introduce and analyze a general class of singularly perturbed linear hybrid systems with both switches and impulses, in which the slow or fast nature of the variables can be…
We propose a dual mode extremum seeking control design technique that achieves real-time optimization of an unknown measured cost function in a prescribed time. The controller is shown to achieve semi-global practical stability of the…
This paper presents an algorithm to apply nonlinear control design approaches in the case of stochastic systems with partial state observation. Deterministic nonlinear control approaches are formulated under the assumption of full state…
Stochastic differential equations have proved to be a valuable governing framework for many real-world systems which exhibit ``noise'' or randomness in their evolution. One quality of interest in such systems is the shape of their…
In nonlinear dynamical systems, tipping refers to a critical transition from one steady state to another, typically catastrophic, steady state, often resulting from a saddle-node bifurcation. Recently, the machine-learning framework of…
In this paper, we investigate the global robust stabilization of linear time-invariant systems by using event-triggered sliding mode control (SMC). Different from the practical sliding mode band, which is commonly used in previous studies…
This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of iterations and directly yields a partition-based invariance…
This paper develops a new approach to the estimation of the degree of boundedness or stability of multidimensional nonlinear systems with time-dependent nonperiodic coefficients-an essential task in various engineering and natural science…
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This…
Prescribed-time (PT) control, originated from \textit{Song et al.}, has gained increasing attention among control community. The salient feature of PT control lies in its ability to achieve system stability within a finite settling time…
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
Motivated by the recent interest in risk-aware control, we study a continuous-time control synthesis problem to bound the risk that a stochastic linear system violates a given specification. We use risk signal temporal logic as a…
This paper introduces a parameter adaptation-based control law for a class of nonlinear, control-affine, safety-critical systems subject to additive, parameter-affine model uncertainty. It is shown that the uncertainty is learned in…