Related papers: Backstepping Design for Incremental Input-to-State…
We develop a predictor-feedback control design for a class of linear systems with state-dependent switching. The main ingredient of our design is a novel construction of an exact predictor state. Such a construction is possible as for a…
The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous…
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe…
Incremental stability properties are considered for certain systems of forced, nonlinear differential equations with a particular positivity structure. An incremental stability estimate is derived for pairs of input/state/output…
This paper addresses the robust stability of a boundary controlled system coupling two partial differential equations (PDEs), namely beam and string equations, in the presence of boundary and in-domain disturbances under the framework of…
We prove that input-to-state stability (ISS) of nonlinear systems over Banach spaces is equivalent to existence of a coercive Lipschitz continuous ISS Lyapunov function for this system. For linear infinite-dimensional systems, we show that…
The use of macroscopic information for the control of a vehicular platoon composed of autonomous vehicles is investigated. A mesoscopic control law is provided, and String Stability is proved by Lyapunov functions and Input-to-State…
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…
The paper endeavours to solve the problem of the necessary and sufficient conditions for testing asymptotic stability of the equilibrium state without using a positive definite or semi-definite Lyapunov function for time-invariant nonlinear…
We consider an abstract class of infinite-dimensional dynamical systems with inputs. For this class, the significance of noncoercive Lyapunov functions is analyzed. It is shown that the existence of such Lyapunov functions implies…
For time-invariant (nonimpulsive) systems, it is already well-known that the input-to-state stability (ISS) property is strictly stronger than integral input-to-state stability (iISS). Very recently, we have shown that under suitable…
For large classes of infinite-dimensional time-varying control systems, the equivalence between integral input-to-state stability (iISS) and the combination of global uniform asymptotic stability under zero input (0-GUAS) and uniformly…
This paper addresses to Sliding Mode Learning Control (SMLC) of uncertain nonlinear systems with Lyapunov stability analysis. In the control scheme, a conventional control term is used to provide the system stability in compact space while…
As control engineering methods are applied to increasingly complex systems, data-driven approaches for system identification appear as a promising alternative to physics-based modeling. While the Bayesian approaches prevalent for…
Learning for control in repeated tasks allows for well-designed experiments to gather the most useful data. We consider the setting in which we use a data-driven controller that does not have access to the true system dynamics. Rather, the…
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…
Time-delay systems are an important class of dynamical systems that provide a solid mathematical framework to deal with many application domains of interest. In this paper we focus on nonlinear control systems with unknown and time-varying…
In this paper input-to-state practically stabilizing control laws for retarded, control-affine, nonlinear systems with actuator disturbance are investigated. The developed methodology is based on the Arstein's theory of control Liapunov…
This work proposes a novel distributed framework for verifying the incremental stability of large-scale systems with unknown dynamics and known interconnection structures using graph neural networks. Our proposed approach relies on the…
The aim of this work is to investigate the use of Incrementally Input-to-State Stable ($\delta$ISS) deep Long Short Term Memory networks (LSTMs) for the identification of nonlinear dynamical systems. We show that suitable sufficient…