Related papers: Stability and Safety through Event-Triggered Inter…
This paper addresses the critical challenge of developing data-driven certificates for the stability and safety of unmodeled dynamical systems by leveraging a tree data structure and an upper bound of the system's Lipschitz constant.…
This paper studies impulsive stabilization of nonlinear systems. We propose two types of event-triggering algorithms to update the impulsive control signals with actuation delays. The first algorithm is based on continuous event detection,…
We propose an encoding and control strategy for the stabilization of switched systems with limited information, supposing the controller is given for each mode. Only the quantized output and the active mode of the plant at each sampling…
In this paper, we consider the use of barrier function-based approaches for the safe control problem in stochastic systems. With the presence of stochastic uncertainties, a myopic controller that ensures safe probability in infinitesimal…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the…
We provide a Lyapunov-function-based method for establishing different types of uniform input-to-state stability (ISS) for time-varying impulsive systems. The method generalizes to impulsive systems with inputs the well-established…
The paper considers the application of feedback control to orbital transfer maneuvers subject to constraints on the spacecraft thrust and on avoiding the collision with the primary body. Incremental reference governor (IRG) strategies are…
Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this paper presents a suite of converse results on CBFs. Given any safe set, we…
In this paper, we propose a new aperiodic formulation of model predictive control for nonlinear continuous-time systems. Unlike earlier approaches, we provide event-triggered conditions without using the optimal cost as a Lyapunov function…
Designing stabilizing controllers is a fundamental challenge in autonomous systems, particularly for high-dimensional, nonlinear systems that can hardly be accurately modeled with differential equations. The Lyapunov theory offers a…
The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
Analysis of transient stability of strongly nonlinear post-fault dynamics is one of the most computationally challenging parts of Dynamic Security Assessment. This paper proposes a novel approach for assessment of transient stability of the…
This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…
This paper addresses the problem of event-triggered control for infinite-dimensional systems. We employ event-triggering mechanisms that compare the plant state and the error of the control input induced by the event-triggered…
Finite-time stability of networked control systems under Denial of Service (DoS) attacks are investigated in this paper, where the communication between the plant and the controller is compromised at some time intervals. Toward this goal,…
In this paper, we propose a novel sampling control framework based on the emulation technique where the sampling error is regarded as an auxiliary input to the emulated system. Utilizing the supremum norm of sampling error, the design of…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
This paper presents a data-driven approach for jointly learning a robust full-state observer and its robustness certificate for systems with unknown dynamics. Leveraging incremental input-to-state stability (delta ISS) notions, we jointly…