Related papers: Certified Learning of Incremental ISS Controllers …
In this paper, the incremental stability of interconnected switched nonlinear systems is discussed. The nature of switching considered is state-dependent. The incremental stability of the switched interconnected system is a stronger…
This paper studies distributed adaptive estimation over sensor networks with partially unknown source dynamics. We present parallel continuous-time and discrete-time designs in which each node runs a local adaptive observer and exchanges…
This paper is devoted to two issues. One is to provide Lyapunov-based tools to establish integral input-to-state stability (iISS) and input-to-state stability (ISS) for some classes of nonlinear parabolic equations. The other is to provide…
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…
From the structural perspective, this paper investigates a new formulation of the concept of input-to-state stability (ISS), and based on this formulation, proposes a new stability analysis approach for a class of interconnected system. The…
Developing stable controllers for large-scale networked dynamical systems is crucial but has long been challenging due to two key obstacles: certifiability and scalability. In this paper, we present a general framework to solve these…
Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is…
In a recent paper we have shown how to learn controllers for unknown linear systems using finite-sized noisy data by solving linear matrix inequalities. In this note we extend this approach to deal with unknown nonlinear polynomial systems…
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…
Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…
This paper proposes a class of neural ordinary differential equations parametrized by provably input-to-state stable continuous-time recurrent neural networks. The model dynamics are defined by construction to be input-to-state stable (ISS)…
In this paper, we present a data-driven controller design method for continuous-time nonlinear systems, using no model knowledge but only measured data affected by noise. While most existing approaches focus on systems with polynomial…
Due to unbounded input operators in partial differential equations (PDEs) with boundary inputs, there has been a long-held intuition that input-to-state stability (ISS) properties and finite gains cannot be established with respect to…
There are recent shifts in demand for design controllers from simplified to complex model-based. Although simplification approaches are successful in many areas of engineering control systems, high-fidelity simulation-based control design,…
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…
Synthesizing safety controllers for general nonlinear systems is a highly challenging task, particularly when the system models are unknown, and input constraints are present. While some recent efforts have explored data-driven safety…
A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An…
This article concerns robustness analysis for interconnections of two dynamical systems (described by upper semicontinuous differential inclusions) using a generalized notion of derivatives associated with locally Lipschitz Lyapunov…
We study singularly perturbed systems that exhibit input-to-state stability (ISS) with fixed-time properties in the presence of bounded disturbances. In these systems, solutions converge to the origin within a time frame independent of…
In this paper, we prove comparison principles for nonlinear differential equations with time-varying coefficients and develop Lyapunov analytical tools for the integral input-to-state stability (iISS) analysis of nonlinear non-autonomous…