Related papers: Sampled-Data Stabilization with Control Lyapunov F…
We propose a stability analysis method for sampled-data switched linear systems with quantization. The available information to the controller is limited: the quantized state and switching signal at each sampling time. Switching between…
We present a novel nonlinear model predictive control (MPC) scheme with relaxed stability criteria, based on the idea of generalized discrete-time control Lyapunov functions. These functions need to satisfy an average descent over a finite…
This paper studies switching stabilization problems for general switched nonlinear systems. A piecewise smooth control-Lyapunov function (PSCLF) approach is proposed and a constructive way to design a stabilizing switching law is developed.…
In this technical note, we generalize the well-known Lyapunov-based stabilizability and detectability tests for linear time-invariant (LTI) systems to the context of discrete-time (DT) polytopic linear parameter-varying (LPV) systems. To do…
In this work, we present a Lyapunov framework for establishing stability with respect to a compact set for a nested interconnection of nonlinear dynamical systems ordered from slow to fast according to their convergence rates, where each of…
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
In this paper, the stability and stabilization problem of positive nonlinear systems, described by the Takagi-Sugeno discrete-time fuzzy model, is studied. The proposed approach is based on the linear co-positive Lyapunov function and…
We consider the design of state feedback control laws for both the switching signal and the continuous input of an unknown switched linear system, given past noisy input-state trajectories measurements. Based on Lyapunov-Metzler…
We offer a compositional data-driven scheme for synthesizing controllers that ensure global asymptotic stability (GAS) across large-scale interconnected networks, characterized by unknown mathematical models. In light of each network's…
This paper deals with the problem of designing a sampled-data state feedback control law for continuous-time linear control systems subject to uniform input quantization. The sampled-data state feedback is designed to ensure the uniform…
In a recent paper we have shown how to learn controllers for unknown linear systems using finite-sized noisy data by solving linear matrix inequalities. In this note we extend this approach to deal with unknown nonlinear polynomial systems…
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 present a sample-based Learning Model Predictive Controller (LMPC) for constrained uncertain linear systems subject to bounded additive disturbances. The proposed controller builds on earlier work on LMPC for deterministic systems.…
This paper analyzes the stability of interconnected continuous-time (CT) and discrete-time (DT) systems coupled through sampling and zero-order hold mechanisms. The DT system updates its output at regular intervals $T>0$ by applying an…
Reinforcement learning (RL) has become the de facto method for achieving locomotion on humanoid robots in practice, yet stability analysis of the corresponding control policies is lacking. Recent work has attempted to merge control…
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…
The control of high-dimensional distributed parameter systems (DPS) remains a challenge when explicit coarse-grained equations are unavailable. Classical equation-free (EF) approaches rely on fine-scale simulators treated as black-box…
Among the various critical systems that worth to be formally analyzed, a wide set consists of controllers for dynamical systems. Those programs typically execute an infinite loop in which simple com putations update internal states and…
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…
In this paper, we define and analyze a subclass of (time-invariant) Control Barrier Functions (CBF) that have favorable properties for the construction of uniformly timevarying CBFs and thereby for the satisfaction of uniformly time-varying…