Related papers: Geometric Stabilization of Virtual Nonlinear Nonho…
An impulsive feedback-adaptive control is developed in order to drive trajectories of a dynamical system towards an invariant manifold with fixed and spaced impulsive controls. The approach requires the explicit knowledge of the set of…
We present a stabilizing output-feedback controller for nonlinear finite and infinite-dimensional control systems governed by monotone operators that respects given input constraints. In particular, we show under a detectability-like…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
We develop an indirect-adaptive model predictive control algorithm for uncertain linear systems subject to constraints. The system is modeled as a polytopic linear parameter varying system where the convex combination vector is constant but…
This paper is devoted to the stabilization problem for nonlinear driftless control systems by means of a time-varying feedback control. It is assumed that the vector fields of the system together with their first order Lie brackets span the…
We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…
Stability certification and identifying a safe and stabilizing initial set are two important concerns in ensuring operational safety, stability, and robustness of dynamical systems. With the advent of machine-learning tools, these issues…
We consider a kinematic model of a controlled car with two trailers by assuming that each trailer is attached at some distance from the preceding axle ("off-hooked trailers"). For this model, we derive the transformation towards privileged…
In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
In this paper, we are concerned with the stabilization of linear port-Hamiltonian systems of arbitrary order $N \in \mathbb{N}$ on a bounded $1$-dimensional spatial domain $(a,b)$. In order to achieve stabilization, we couple the system to…
Neural networks have become increasingly popular in controller design due to their versatility and efficiency. However, their integration into feedback systems can pose stability challenges, particularly in the presence of uncertainties.…
In this paper, we present a geometric approach for computing the controlled invariant set of a continuous-time control system. While the problem is well studied for in the ellipsoidal case, this family is quite conservative for constrained…
The growing complexity of modern control tasks calls for controllers that can react online as objectives and disturbances change, while preserving closed-loop stability. Recent approaches for improving the performance of nonlinear systems…
Video stabilization technique is essential for most hand-held captured videos due to high-frequency shakes. Several 2D-, 2.5D- and 3D-based stabilization techniques are well studied, but to our knowledge, no solutions based on deep neural…
This work is devoted to the design of boundary controls of physical systems that are described by semilinear hyperbolic balance laws. A computational framework is presented that yields sufficient conditions for a boundary control to steer…
This paper addresses the feasibility of virtual holonomic constraints (VHCs) in the context of motion planning for underactuated mechanical systems with a single degree of underactuation. While existing literature has established a widely…
This paper considers the problem of robust stability for a class of uncertain nonlinear quantum systems subject to unknown perturbations in the system Hamiltonian. The nominal system is a linear quantum system defined by a linear vector of…
We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-supervised learning setting that jointly learns a controller…