Related papers: Compositional Neural Certificates for Networked Dy…
Recently sum-of-squares (SOS) based methods have been used for the stability analysis and control synthesis of polynomial dynamical systems. This analysis framework was also extended to non-polynomial dynamical systems, including power…
We propose a piecewise learning framework for controlling nonlinear systems with unknown dynamics. While model-based reinforcement learning techniques in terms of some basis functions are well known in the literature, when it comes to more…
Aiming at the difficulty of stability analysis in practical application of existing control methods, a controller strategy based on lyapunov stability theory is proposed to realize stable control for any control method. In order to…
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…
This note studies (practical) asymptotic stability of nonlinear networked control systems whose protocols are not necessarily uniformly globally exponentially stable. In particular, we propose a Lyapunov-based approach to establish…
Neural network controllers have the potential to improve the performance of feedback systems compared to traditional controllers, due to their ability to act as general function approximators. However, quantifying their safety and…
In the stability analysis of large-scale interconnected systems it is frequently desirable to be able to determine a decay point of the gain operator, i.e., a point whose image under the monotone operator is strictly smaller than the point…
We develop a Lyapunov-based small-gain theorem for establishing fixed-time input-to-state stability (FxT-ISS) guarantees in interconnected nonlinear dynamical systems. The proposed framework considers interconnections in which each…
In this paper, we propose a deep learning based control synthesis framework for fast and online computation of controllers that guarantees the safety of general nonlinear control systems with unknown dynamics in the presence of input…
Recent employments of SMT solvers within the Lyapunov function synthesis provided effective tools for automated construction of Lyapunov functions alongside with sound computer-assisted certificates. The main benefit of the suggested…
Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…
We propose a method for data-driven practical stabilization of nonlinear systems with provable guarantees, based on the concept of Nonparametric Chain Policies (NCPs). The approach employs a normalized nearest-neighbor rule to assign, at…
In this paper, we address robust static anti-windup compensator design and performance analysis for saturated linear closed loops in the presence of nonlinear probabilistic parameter uncertainties via randomized techniques. The proposed…
This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the…
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…
In this paper, we propose a compositional framework for the construction of control barrier certificates for large-scale stochastic switched systems accepting multiple control barrier certificates with some dwell-time conditions. The…
Formal verification of neuro-symbolic cyber-physical systems, such as drones, medical devices and robots, is complicated. Neural components must be trained to be optimal with respect to the available data as well as the safety…
This paper proposes a control strategy consisting of a robust controller and an Echo State Network (ESN) based control law for stabilizing a class of uncertain nonlinear discrete-time systems subject to persistent disturbances. Firstly, the…
Inspired by the widespread concept of Lyapunov-Krasovskii functionals of complete type, this article proposes an alternative class of functionals, termed Lyapunov-Krasovskii functionals of robust type. Their construction aims at improving…
We propose a compositional approach to synthesize policies for networks of continuous-space stochastic control systems with unknown dynamics using model-free reinforcement learning (RL). The approach is based on implicitly abstracting each…