Related papers: Systematic, Lyapunov-Based, Safe and Stabilizing C…
This article establishes the existence of Lyapunov functions for analyzing the stability of a class of state-constrained systems, and it describes algorithms for their numerical computation. The system model consists of a differential…
Estimating the Region of Attraction (RoA) for nonlinear dynamical systems is a fundamental problem in control theory, with direct implications for stability analysis and safe controller design. Traditional approaches rely on analytically…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
This paper studies data-driven stabilization of a class of unknown polynomial systems using data corrupted by bounded noise. Existing work addressing this problem has focused on designing a controller and a Lyapunov function so that a…
By computing Lyapunov functions of a certain, convenient structure, Lyapunov-based methods guarantee stability properties of the system or, when performing synthesis, of the relevant closed-loop or error dynamics. In doing so, they provide…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
This paper investigates the problem of synchronization for nonlinear systems. Following a Lyapunov approach, we firstly study global synchronization of nonlinear systems in canonical control form with both distributed…
In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…
This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…
Recent developments in data-driven control have revived interest in the behavioral approach to systems theory, where systems are defined as sets of trajectories rather than being described by a specific model or representation. However,…
We investigate the problem of synthesizing switching controllers for stabilizing continuous-time plants. First, we introduce a class of control Lyapunov functions (CLFs) for switched systems along with a switching strategy that yields a…
We propose a counter-example guided inductive synthesis (CEGIS) scheme for the design of control Lyapunov functions and associated state-feedback controllers for linear systems affected by parametric uncertainty with arbitrary shape. In the…
This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional…
We initiate a formal study on the use of low-dimensional latent representations of dynamical systems for verifiable control synthesis. Our main goal is to enable the application of verification techniques -- such as Lyapunov or barrier…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing controller. In particular, the resulting…
Given a Control Lyapunov Function (CLF), Sontag's famous Formula provides a nonlinear state-feedback guaranteeing asymptotic stability of the setpoint. At the same time, a cost function that depends on the CLF is minimized. While there…
This paper presents a method to design a min-norm Control Lyapunov Function (CLF)-based stabilizing controller for a control-affine system with uncertain dynamics using Gaussian Process (GP) regression. In order to estimate both state and…
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…