Related papers: Tracking Control of Euler-Lagrangian Systems with …

This paper presents a novel approach for steering the state of a stochastic control-affine system to a desired target within a finite time horizon. Our method leverages the time-reversal of diffusion processes to construct the required…

This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. Moreover, we propose nonlinear discrete-time control barrier functions…

This paper develops a sliding mode control based frame work for equality constrained optimization by reformulation the first order Karush Kuhn Tucker conditions as control affine dynamical system. The optimization variables are treated as…

In this paper we study an event based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input and it is assumed that the desired…

This paper derives sufficient conditions for bounded distributed connectivity-preserving coordination of Euler-Lagrange systems with only position measurements and with system uncertainties, respectively. The paper proposes two strategies…

In this paper, a self-triggered control scheme for constrained discrete-time control systems is presented. The key idea of our approach is to construct a transition system or a graph structure from a collection of polyhedral sets, which are…

Output feedback controlled synchronization problems for a class of nonlinear unstable systems under information constraints imposed by limited capacity of the communication channel are analyzed. A binary time-varying coder-decoder scheme is…

Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…

In various applications, the effect of errors in gradient-based iterations is of particular importance when seeking saddle points of the Lagrangian function associated with constrained convex optimization problems. Of particular interest…

This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control authority. Our technique builds on a recent method to control…

This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…

This letter addresses the constrained attitude control problem for rigid bodies directly on the special orthogonal group SO(3), avoiding singularities associated with parameterizations such as Euler angles. We propose a novel Periodic…

This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…

Runtime monitoring of autonomous systems traditionally relies on mapping continuous sensor observations to discrete logical propositions defined over low-dimensional state variables. This abstraction breaks down in perception-driven…

A data-driven procedure for identifying the dominant transport barriers in a time-varying flow from limited quantities of Lagrangian data is presented. Our approach partitions state space into pairs of coherent sets, which are sets of…

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…

In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…

This paper aims to introduce a design methodology to stabilize a chain of integrators in a fixed-time with predefined Upper Bound for the Settling-Time (UBST). This approach is based on time-varying gains (time-base generator) that become…

When deploying autonomous agents in unstructured environments over sustained periods of time, adaptability and robustness oftentimes outweigh optimality as a primary consideration. In other words, safety and survivability constraints play a…

This paper revisits the event-triggered control problem from a data-driven perspective, where unknown continuous-time linear systems subject to disturbances are taken into account. Using data information collected off-line instead of…