Related papers: Hybrid Feedback for Affine Nonlinear Systems with …
In this work we show that given a nonlinear programming problem, it is possible to construct a family of dynamical systems defined on the feasible set of the given problem, so that: (a) the equilibrium points are the unknown critical points…
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
This paper proposes a unifying design framework for dynamic feedback controllers that track solution trajectories of time-varying generalized equations, such as local minimizers of nonlinear programs or competitive equilibria (e.g., Nash)…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…
This paper introduces a novel method to approximate limit cycles of nonlinear ODEs by use of switching affine dynamics in order to ease data-based modeling and analysis. Previous approaches to approximating limit cycles by switching systems…
In this paper, a new control scheme, called as additive-decomposition-based tracking control, is proposed to solve the output feedback tracking problem for a class of systems with measurable nonlinearities and unknown disturbances. By the…
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…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
This paper presents an adaptive tracking control method for a class of nonlinearly parameterized MIMO dynamic systems with time-varying delay and unknown nonlinear dead-zone inputs. A new high dimensional integral Lyapunov-Krasovskii…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…
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…
This note presents an embedded automatic control strategy for a low consumption vehicle equipped with an "on/off" engine. The main difficulties are the hybrid nature of the dynamics, the non smoothness of the dynamics of each mode, the…
This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…
This paper develops a hybrid output-feedback control framework for average dwell-time (ADT) switched linear systems subject to actuator saturation. The considered subsystems may be exponentially unstable, and the saturation nonlinearity is…
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 address the path-wise control of systems described by a set of nonlinear stochastic differential equations. For this class of systems, we introduce a notion of stochastic relative degree and a change of coordinates which transforms the…
This paper provides new stability results for Action-Dependent Heuristic Dynamic Programming (ADHDP), using a control algorithm that iteratively improves an internal model of the external world in the autonomous system based on its…