Related papers: A General Approach to Robust Controller Analysis a…
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…
Feedback asymptotic stabilization of control systems is an important topic of control theory and applications. Broadly speaking, if the system $\dot{x} = f(x,u)$ is locally asymptotically stabilizable, then there exists a feedback control…
The paper studies digital redesign of linear time-invariant analog controllers under intermittent sampling. The sampling pattern is only assumed to be uniformly bounded, but otherwise irregular and unknown a priori. The contribution of the…
The increase in available data and complexity of dynamical systems has sparked the research on data-based system performance analysis and controller design. Recent approaches can guarantee performance and robust controller synthesis based…
In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…
Supervisory control theory provides means to synthesize supervisors for systems with discrete-event behavior from models of the uncontrolled plant and of the control requirements. The applicability of supervisory control theory often fails…
Automatic prompt generation plays a crucial role in enabling general-purpose multi-agent systems to perform diverse tasks autonomously. Existing methods typically evaluate prompts based on their immediate task performance, overlooking the…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is either to achieve dissipativity with respect to a given quadratic supply rate, or to…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
The growing complexity of modern control tasks calls for controllers that can react online as objectives and disturbances change, while preserving closed-loop stability. Recent approaches for improving the performance of nonlinear systems…
Control of multi-level quantum systems is sensitive to implementation errors in the control field and uncertainties associated with system Hamiltonian parameters. A small variation in the control field spectrum or the system Hamiltonian can…
This paper proposes a new approach to analyze and design distributed robust consensus control protocols for general linear leaderless multi-agent systems (MASs) in presence of relative-state constraints or uncertainties. First, we show that…
This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lyapunov function (CLF) and a control barrier function (CBF) to…
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…
In this work we consider robust stabilization of uncertain dynamical systems and show that this can be achieved by solving a non-classically constrained analytic interpolation problem. In particular, this non-classical constraint confines…
We address the problem of diagnosing and repairing specifications for hybrid systems formalized in signal temporal logic (STL). Our focus is on the setting of automatic synthesis of controllers in a model predictive control (MPC) framework.…
Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approximates a non-smooth…
A robust controller is specified, and the stability bounds of the uncertain closed-loop system are determined using the small gain, circle, positive real, and Popov criteria. A graphical approach is employed in order to demonstrate the ease…
Traditional centralized stability analysis struggles with scalability in large complex modern power grids. This two-part paper proposes a compositional and equilibrium-free approach to analyzing power system stability. In Part I, we prove…
A general controller scheme for stabilizing a non-linear system, which has its origin from the linear system theory, is proposed in this paper. The proposed controller can stabilize the non-linear system subjected to initial conditions. An…