Related papers: A Piecewise Learning Framework for Control of Unkn…
We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-supervised learning setting that jointly learns a controller…
The fundamental problem of stabilizing a general nonaffine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this article. A novel integral sliding-mode parallel control (ISMPC) approach is…
Stability certificates play a critical role in ensuring the safety and reliability of robotic systems. However, deriving these certificates for complex, unknown systems has traditionally required explicit knowledge of system dynamics, often…
In this paper, we investigate the model reference adaptive control approach for uncertain piecewise affine systems with performance guarantees. The proposed approach ensures the error metric, defined as the weighted Euclidean norm of the…
We propose new methods for learning control policies and neural network Lyapunov functions for nonlinear control problems, with provable guarantee of stability. The framework consists of a learner that attempts to find the control and…
Koopman operator theory has gained significant attention in recent years for identifying discrete-time nonlinear systems by embedding them into an infinite-dimensional linear vector space. However, providing stability guarantees while…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
We present a technique for learning control Lyapunov-like functions, which are used in turn to synthesize controllers for nonlinear dynamical systems that can stabilize the system, or satisfy specifications such as remaining inside a safe…
To promote the widespread use of mobile robots in diverse fields, the performance of trajectory tracking must be ensured. To address the constraints and nonlinear features associated with mobile robot systems, we apply nonlinear model…
The problem of piecewise affine (PWA) regression and planning is of foundational importance to the study of online learning, control, and robotics, where it provides a theoretically and empirically tractable setting to study systems…
We propose a sampling-based approach to learn Lyapunov functions for a class of discrete-time autonomous hybrid systems that admit a mixed-integer representation. Such systems include autonomous piecewise affine systems, closed-loop…
This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…
Online model predictive control (MPC) for piecewise affine (PWA) systems requires the online solution to an optimization problem that implicitly optimizes over the switching sequence of PWA regions, for which the computational burden can be…
Establishing stability certificates for closed-loop systems under reinforcement learning (RL) policies is essential to move beyond empirical performance and offer guarantees of system behavior. Classical Lyapunov methods require a strict…
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…
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…
While stability analysis is a mainstay for control science, especially computing regions of attraction of equilibrium points, until recently most stability analysis tools always required explicit knowledge of the model or a high-fidelity…
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.…
We present a method for representing the closed-loop dynamics of piecewise affine (PWA) systems with bounded additive disturbances and neural network-based controllers as mixed-integer (MI) linear constraints. We show that such…