Related papers: robust synergistic hybrid feedback
The paper deals with the problem of the sampled data feedback stabilization for autonomous nonlinear systems. The corresponding results extend those obtained in earlier works by the same authors. The sufficient conditions we establish are…
Recently, many machine learning optimizers have been analysed considering them as the asymptotic limit of some differential equations when the step size goes to zero. In other words, the optimizers can be seen as a finite difference scheme…
A novel representation of reset control systems with a zero-crossing resetting law, in the framework of hybrid inclusions, is postulated. The problems of well-posedness and stability of the resulting hybrid dynamical system are…
This paper provides a systematic exposition of Lyapunov stability for compact sets in locally compact metric spaces. We explore foundational concepts, including neighborhoods of compact sets, invariant sets, and the properties of dynamical…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
We are interested in the feedback stabilization of general linear multi-dimensional first order hyperbolic systems in $\mathbb{R}^d$. Using a Lyapunov function with a suited weight function depending on the system under consideration we…
We consider the stabilization problem for driftless control-affine systems under the bracket-generating condition. In our previous works, a class of time-varying feedback laws has been constructed to stabilize the equilibrium of a…
We construct a patchy feedback for a general control system on $\R^n$ which realizes practical stabilization to a target set $\Sigma$, when the dynamics is constrained to a given set of states $S$. The main result is that $S$--constrained…
For a control system two major issues can be considered: the stabilizability with respect to a given target, and the minimization of an integral functional (while the trajectories reach this target). Here we consider a problem where…
Recently, time scales calculus is developed to unify continuous and discrete analysis. By extending the definition of time scales properly, this paper introduces the concept of a signal set as well as its stability properties in terms of…
It has been known for some time that proportional output feedback will stabilize MIMO, minimum-phase, linear time-invariant systems if the feedback gain is sufficiently large. High-gain adaptive controllers achieve stability by…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
The recent development of globally strict control Lyapunov functions (CLFs) for the challenging unicycle parking problem provides a foundation for pursuing optimality. We address this in the inverse optimal framework, thereby avoiding the…
This paper proposes a general framework for constructing feedback controllers that drive complex dynamical systems to "efficient" steady-state (or slowly varying) operating points. Efficiency is encoded using generalized equations which can…
Non-local continuity equation describes an infinite system of identical particles, which interact with each other through the common field. Solution of this equation is a probability measure that stands for spatial distribution of…
In this paper, a continuous hybrid differentiator is presented based on a strong Lyapunov function. The differentiator design can not only reduce sufficiently chattering phenomenon of derivative estimation by introducing a perturbation…
A basic result in synchronization of linear systems via output coupling is presented. For identical discrete-time linear systems that are detectable from their outputs and neutrally stable, it is shown that a linear output feedback law…
Feedback optimization algorithms compute inputs to a system using real-time output measurements, which helps mitigate the effects of disturbances. However, existing work often models both system dynamics and computations in either discrete…
We solve the feedback stabilization problem for a tank, with friction, containing a liquid modeled by the viscous Saint-Venant system of Partial Differential Equations. A spill-free exponential stabilization is achieved, with robustness to…
Lyapunov stability theory is the bedrock of direct adaptive control. Fundamentally, Lyapunov stability requires constructing a distance-like function which must decrease with time to ensure stability. Feedback linearization, backstepping,…