Related papers: Contraction Theory for Nonlinear Stability Analysi…
Converse optimality theory addresses an optimal control problem conversely where the system is unknown and the value function is chosen. Previous work treated this problem both in continuous and discrete time and non-extensively considered…
Shifting away from the traditional mass production approach, the process industry is moving towards more agile, cost-effective and dynamic process operation (next-generation smart plants). This warrants the development of control systems…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
In this paper we extend to a generic class of piecewise smooth dynamical systems a fundamental tool for the analysis of convergence of smooth dynamical systems: contraction theory. We focus on switched systems satisfying Caratheodory…
Contraction-Based Nonlinear Model Predictive Control (NMPC) formulations are attractive because of the generally short prediction horizons they require and the needless use of terminal set computation that are commonly necessary to…
A method is presented to analyze the stability of feedback systems with neural network controllers. Two stability theorems are given to prove asymptotic stability and to compute an ellipsoidal inner-approximation to the region of attraction…
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 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…
This paper describes new results linking constrained optimization theory and nonlinear contraction analysis. Generalizations of Lagrange parameters are derived based on projecting system dynamics on the tangent space of possibly…
This paper studies the contraction properties of nonlinear differential-algebraic equation (DAE) systems. Specifically we develop scalable techniques for constructing the attraction regions associated with a particular stable equilibrium,…
This paper studies the design of neural network (NN)-based controllers for unknown nonlinear systems, using contraction analysis. A Neural Ordinary Differential Equation (NODE) system is constructed by approximating the unknown draft…
This article deals with the stability analysis of a drilling system which is modelled as a coupled ordinary differential equation / string equation. The string is damped at the two boundaries but leading to a stable open-loop system. The…
We present a novel robust control framework for continuous-time, perturbed nonlinear dynamical systems with uncertainty that depends nonlinearly on both the state and control inputs. Unlike conventional approaches that impose structural…
Three similar convergence notions are considered. Two of them are the long established notions of convergent dynamics and incremental stability. The other is the more recent notion of contraction analysis. All three convergence notions…
A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…
The stability analysis of a class of discontinuous discrete-time systems is studied in this paper. The system under study is modeled as a feedback interconnection of a linear system and a set-valued nonlinearity. An equivalent…
This paper is concerned with the study of the stability of dynamical systems evolving on time scales. We first {formalize the notion of matrix measures on time scales, prove some of their key properties and make use of this notion to study…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
Stability is a very important property of any physical system. By a stable system, we broadly mean that small disturbances either in the system inputs or in the initial conditions do not lead to large changes in the overall behavior of the…
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…