Related papers: On inf-convolution-based robust practical stabiliz…
The notion of the relaxed Robust Control Lyapunov Function (relaxed RCLF) is introduced and is exploited for the design of robust feedback stabilizers for nonlinear systems. Particularly, it is shown for systems with input constraints that…
This paper presents an adaptive control approach for uncertain nonlinear systems subject to safety constraints that allows for modularity in the selection of the parameter estimation algorithm. Such modularity is achieved by unifying the…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
Koopman operator-based methods enable data-driven bilinear representations of unknown nonlinear control systems. Accurate representations often demand significantly higher dimensions than the original system, making control design…
This work presents a framework for control theory based on constructive analysis to account for discrepancy between mathematical results and their implementation in a computer, also referred to as computational uncertainty. In control…
This paper presents a method to stabilize state and input constrained nonlinear systems using an offline optimization on variable triangulations of the set of admissible states. For control-affine systems, by choosing a continuous piecewise…
Current prosthesis control methods are primarily model-independent - lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, and neglecting use of the natural dynamics of the system.…
The theoretical unification of Nonlinear Model Predictive Control (NMPC) with Control Lyapunov Functions (CLFs) provides a framework for achieving optimal control performance while ensuring stability guarantees. In this paper we present the…
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vector fields. To this end, we introduce novel classes of robust…
Learning and synthesizing stabilizing controllers for unknown nonlinear control systems is a challenging problem for real-world and industrial applications. Koopman operator theory allows one to analyze nonlinear systems through the lens of…
The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
Since the mid-1990s, it has been known that, unlike in Cartesian form where Brockett's condition rules out static feedback stabilization, the unicycle is globally asymptotically stabilizable by smooth feedback in polar coordinates. In this…
When neural networks are used to model dynamics, properties such as stability of the dynamics are generally not guaranteed. In contrast, there is a recent method for learning the dynamics of autonomous systems that guarantees global…
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap…
Results on the problem of stabilizing a nonlinear continuous-time system by a finite number of control or measurement values are presented. The basic tool is a discontinuous version of the so-called semi-global backstepping lemma. We derive…
Most of nonlinear robust control methods just consider the affine nonlinear nominal model. When the nominal model is assumed to be affine nonlinear, available information about existing non-affine nonlinearities is ignored. For non-affine…
In this paper, we provide a systematic approach for the design of stabilizing feedback controllers for nonlinear control systems using the Koopman operator framework. The Koopman operator approach provides a linear representation for a…
While ensuring stability for linear systems is well understood, it remains a major challenge for nonlinear systems. A general approach in such cases is to compute a combination of a Lyapunov function and an associated control policy.…
This work aims to synthesize a controller that ensures that an unknown discrete-time system is incrementally input-to-state stable ($\delta$-ISS). In this work, we introduce the notion of $\delta$-ISS control Lyapunov function…