Related papers: Designing controllers with predefined convergence-…
We present stability conditions for deterministic time-varying nonlinear discrete-time systems whose inputs aim to minimize an infinite-horizon time-dependent cost. Global asymptotic and exponential stability properties for general…
Robust stabilization conditions for uncertain switched affine systems subject to a unitary input delay are presented. They are obtained through the Lyapunov framework and a min-switching state-feedback predictive control law. The result…
In this study, we propose a design methodology of distributed controllers for multi-agent systems on a class of directed interaction networks by extending the gradient-flow method. Although the gradient-flow method is a common design tool…
Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size…
In this paper we propose a model predictive control scheme for constrained fractional-order discrete-time systems. We prove that all constraints are satisfied at all time instants and we prescribe conditions for the origin to be an…
This paper addresses the problem of tracking control for an unknown nonlinear system with time-varying bounded disturbance subjected to prescribed Performance and Input Constraints (PIC). Since simultaneous prescription of PIC involves a…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
In this paper, we investigate the problem of synthesizing controllers for temporal logic specifications under security constraint. We assume that there exists a passive intruder (eavesdropper) that can partially observe the behavior of the…
In this paper, we propose a distributed model predictive control (DMPC) scheme for linear time-invariant constrained systems which admit a separable structure. To exploit the merits of distributed computation algorithms, the stabilizing…
In this paper, we propose several set-point control schemes for achieving finite-time regulation in a class of Euler--Lagrange systems with $n$ degrees of freedom and uncertain potential energy. The proposed controllers are based on…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
This paper introduces a new framework for analyzing the stability of discrete-time model predictive controllers acting on continuous-time systems. The proposed framework introduces the distinction between discretization time (used to…
Deep learning methods have demonstrated significant potential for addressing complex nonlinear control problems. For real-world safety-critical tasks, however, it is crucial to provide formal stability guarantees for the designed…
In this paper, the finite-time control and bumpless transfer control are investigated for switched systems under asynchronously switching. First, a class of dynamic output feedback controllers are designed to stabilize the switched system…
In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…
We present a stochastic constrained output-feedback data-driven predictive control scheme for linear time-invariant systems subject to bounded additive disturbances. The approach uses data-driven predictors based on an extension of Willems'…
This paper addresses two minimum reaching time control problems within the context of finite stable systems. The well-known Variable Structure Control (VSC) and Unity Vector Control (UVC) strategies are analyzed, with the primary objective…
In this paper, we consider a varying terminal time structure for the stochastic optimal control problem under state constraints, in which the terminal time varies with the mean value of the state. In this new stochastic optimal control…
In this paper, we present a state-feedback controller design method for bilinear systems. To this end, we write the bilinear system as a linear fractional representation by interpreting the state in the bilinearity as a structured…
While ensuring stability for linear systems is well understood, it remains a major challenge for nonlinear systems. A general approach in such cases is to compute a combination of a Lyapunov function and an associated control policy.…