Related papers: On inf-convolution-based robust practical stabiliz…
This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control…
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…
Reinforcement Learning (RL) has shown promise in control tasks but faces significant challenges in real-world applications, primarily due to the absence of safety guarantees during the learning process. Existing methods often struggle with…
We propose a novel flexible-step model predictive control algorithm for unknown linear time-invariant discrete-time systems. The goal is to asymptotically stabilize the system without relying on a pre-collected dataset that describes its…
An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…
This paper proposes novel approaches for designing control Lyapunov functions (CLFs) for constrained linear systems. We leverage recent configuration-constrained polyhedral computing techniques to devise piecewise affine convex CLFs.…
Title: Global stabilization of control nonlinear system "inverted pendulum on a cart" using method of two Lyapunov functions Authors: B. L. Mazov (Nizhny Novgorod Technical University) Comments: 10 pages Subj-class: Dynamical Systems…
This paper develops a robust control synthesis method for uncertain linear systems with input saturation in the framework of integral quadratic constraints (IQCs). The system is reformulated as a linear fractional representation (LFR) that…
It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally. We introduce a modular design framework that selects the…
Stability analysis of switched systems, characterized by multiple operational modes and switching signals, is challenging due to their nonlinear dynamics. While frameworks such as multiple Lyapunov functions (MLF) provide a foundation for…
A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…
Control Lyapunov functions (CLFs) play a vital role in modern control applications, but finding them remains a problem. Recently, the control Lyapunov-value function (CLVF) and robust CLVF have been proposed as solutions for nonlinear…
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…
This paper studies the problem of constructing control Lyapunov functions (CLFs) and feedback stabilization strategies for deterministic nonlinear control systems described by ordinary differential equations. Many numerical methods for…
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to…
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…
Recent advances in learning-based control leverage deep function approximators, such as neural networks, to model the evolution of controlled dynamical systems over time. However, the problem of learning a dynamics model and a stabilizing…
This thesis addresses the question of stability of systems defined by differential equations which contain nonlinearity and delay. In particular, we analyze the stability of a well-known delayed nonlinear implementation of a certain…
This book is an extension of my doctoral dissertation, focusing on techniques for analyzing stability (dissipativity) and achieving stabilization of linear systems that are characterized by non-trivial distributed delays. It specifically…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…