Related papers: Lyapunov based dynamic controller designs for reac…
We are interested in the control of forming processes for nonlinear material models. To develop an online control we derive a novel feedback law and prove a stabilization result. The derivation of the feedback control law is based on a…
Online approximation of an infinite horizon optimal path-following strategy for a kinematic unicycle is considered. The solution to the optimal control problem is approximated using an approximate dynamic programming technique that uses…
The present paper addresses the problem of existence of an (output) feedback law to the purposes of asymptotically steering to zero a given controlled variable, while keeping all state variables bounded, for any initial conditions in a…
We consider the design of state feedback control laws for both the switching signal and the continuous input of an unknown switched linear system, given past noisy input-state trajectories measurements. Based on Lyapunov-Metzler…
Dirty derivatives are routinely used in industrial settings, particularly in the implementation of the derivative term in PID control, and are especially appealing due to their noise-attenuation and model-free characteristics. In this…
Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safety, and real-time performance of the system are desired to…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
In this paper, we study the feasibility of a class of optimization-based boundary control of one-dimensional macroscopic traffic flow models, where stability and invariance are achieved by a single boundary control. We define the sets of…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
The objective is to design distributed coordination strategies for a network of agents in a cyber-physical environment. In particular, we concentrate on the rendez-vous of agents having double-integrator dynamics with the addition of a…
In this paper, we present Lyapunov-based adaptive controllers for the practical (or real) stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as Adaptive Higher Order Sliding Mode…
It is an interesting open problem to achieve adaptive prescribed-time control for strict-feedback systems with unknown and fast or even abrupt time-varying parameters. In this paper we present a solution with the aid of several design and…
We present a true-dynamics-agnostic, statistically rigorous framework for establishing exponential stability and safety guarantees of closed-loop, data-driven nonlinear control. Central to our approach is the novel concept of conformal…
This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller derived from an unconstrained penalty-based formulation…
In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-driven vehicles. Reactive and predictive controllers are…
Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates the uncertainties and disturbances. In this paper, the idea…
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…
The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…