Related papers: Lyapunov based dynamic controller designs for reac…

Stability, reachability, and safety are crucial properties of dynamical systems. While verification and control synthesis of reach-avoid-stay objectives can be effectively handled by abstraction-based formal methods, such approaches can be…

In this work, we introduce a novel gradient descent-based approach for optimizing control systems, leveraging a new representation of stable closed-loop dynamics as a function of two matrices i.e. the step size or direction matrix and value…

Considering a nonlinear system in Byrnes-Isidori form that is subject to unbounded perturbations, we apply Lyapunov redesign via feedback linearisation for trajectory tracking. Leveraging the ideas of tube-based geometric characterisation…

In this paper, we propose a Lyapunov-based reinforcement learning method for distributed control of nonlinear systems comprising interacting subsystems with guaranteed closed-loop stability. Specifically, we conduct a detailed stability…

We consider the data-driven stabilization of discrete-time linear time-varying systems. The controller is defined as a linear state-feedback law whose gain is adapted to the plant changes through a data-based event-triggering rule. To do…

We present a prescriptive framework for the event-triggered control of nonlinear systems. Rather than closing the loop periodically, as traditionally done in digital control, in event-triggered implementations the loop is closed according…

We derive a saturated feedback control, which locally stabilizes a linear reaction-diffusion equation. In contrast to most other works on this topic, we do not assume the Lyapunov stability of the uncontrolled system and consider general…

In this paper, we apply a Control Lyapunov Function methodology to design two families of cruise controllers for the two-dimensional movement of autonomous vehicles on lane-free roads using the bicycle kinematic model. The control Lyapunov…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

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…

Predictive safety filters provide a way of projecting potentially unsafe inputs, proposed, e.g. by a human or learning-based controller, onto the set of inputs that guarantee recursive state and input constraint satisfaction by leveraging…

We derive a feedback control law for the control of the downstream flow in a 1-D open channel by manipulating the water flow at an upstream location. We use backstepping for controller design and Lyapunov techniques for stability analysis.…

This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…

The feedback stabilization problem for ensembles of coupled spin 1/2 systems is discussed from a control theoretic perspective. The noninvasive nature of the bulk measurement allows for a fully unitary and deterministic closed loop. The…

Synergistic hybrid feedback refers to a collection of feedback laws that allow for global asymptotic stabilization of a compact set through the following switching logic: given a collection of Lyapunov functions that are indexed by a logic…

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…

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 presents an algorithm for computing inner estimates of the regions of attraction of limit cycles of a nonlinear hybrid system. The basic procedure is: (1) compute the dynamics of the system transverse to the limit cycle; (2) from…

This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…

In this article, we present a stabilization feedback law with integral action for conservative abstract linear systems subjected to actuator nonlinearity. Based on the designed control law, we first prove the well-posedness and global…