Related papers: Online Stabilization of Unknown Linear Time-Varyin…
We address the global stabilization of linear time-invariant (LTI) systems when the magnitude of the control input and its successive time derivatives, up to an order $p\in\mathbb N$, are bounded by prescribed values. We propose a static…
This paper presents two stochastic model predictive control methods for linear time-invariant systems subject to unbounded additive uncertainties. The new methods are developed by formulating the chance constraints into deterministic form,…
Safety and tracking stability are crucial for safety-critical systems such as self-driving cars, autonomous mobile robots, industrial manipulators. To efficiently control safety-critical systems to ensure their safety and achieve tracking…
We analyse the problem of stability of a continuous time linear switching system (LSS) versus the stability of its Euler discretization. It is well-known that the existence of a positive {\tau} for which the corresponding discrete time…
Motivated by the goal of learning controllers for complex systems whose dynamics change over time, we consider the problem of designing control laws for systems that switch among a finite set of unknown discrete-time linear subsystems under…
A major limitation of online algorithms that track the optimizers of time-varying nonconvex optimization problems is that they focus on a specific local minimum trajectory, which may lead to poor spurious local solutions. In this paper, we…
In this paper, we consider the problem of stabilizing discrete-time linear systems by computing a nearby stable matrix to an unstable one. To do so, we provide a new characterization for the set of stable matrices. We show that a matrix $A$…
We investigate the stabilization of unstable multidimensional partially observed single-sensor and multi-sensor linear systems driven by unbounded noise and controlled over discrete noiseless channels under fixed-rate information…
In this paper we first study the fixed-time stabilizability of discrete-time switched linear control systems. Using a geometric approach, we derive conditions under which such systems can be stabilized within a prescribed number of steps,…
We propose a provably stabilizing and tractable approach for control of constrained linear systems under intermittent observations and unreliable transmissions of control commands. A smart sensor equipped with a Kalman filter is employed…
Stability margins for linear time-varying (LTV) and switched-linear systems are traditionally computed via quadratic Lyapunov functions, and these functions certify the stability of the system under study. In this work, we show how the more…
This thesis addresses the question of stability of systems defined by differential equations which contain nonlinearity and delay. In particular, we analyze the stability of a well-known delayed nonlinear implementation of a certain…
The problem of online change point detection is to detect abrupt changes in properties of time series, ideally as soon as possible after those changes occur. Existing work on online change point detection either assumes i.i.d data, focuses…
Learning to make decisions from observed data in dynamic environments remains a problem of fundamental importance in a number of fields, from artificial intelligence and robotics, to medicine and finance. This paper concerns the problem of…
This paper studies the stabilization for a kind of linear and impulse control systems in finite-dimensional spaces, where impulse instants appear periodically. We present several characterizations on the stabilization; show how to design…
We study the problem of chasing convex bodies online: given a sequence of convex bodies $K_t\subseteq \mathbb{R}^d$ the algorithm must respond with points $x_t\in K_t$ in an online fashion (i.e., $x_t$ is chosen before $K_{t+1}$ is…
Different time-discretization methods for equivalent-control based sliding mode control (ECB-SMC) are presented. A new discrete-time sliding mode control scheme is proposed for linear time-invariant (LTI) systems. It is error-free in the…
In this paper, we study the problem of optimizing the stability of positive semi-Markov jump linear systems. We specifically consider the problem of tuning the coefficients of the system matrices for maximizing the exponential decay rate of…
We introduce a closed-form method for identification of discrete-time linear time-variant systems from data, formulating the learning problem as a regularized least squares problem where the regularizer favors smooth solutions within a…
In this paper we propose a framework to analyze iterative first-order optimization algorithms for time-varying convex optimization. We assume that the temporal variability is caused by a time-varying parameter entering the objective, which…