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We present new theorems characterizing robust Lyapunov functions and infinite horizon value functions in optimal control as unique viscosity solutions of partial differential equations. We use these results to further extend Zubov's method…
In this paper we propose a novel semi-definite programming based method to compute robust domains of attraction for state-constrained perturbed polynomial systems. A robust domain of attraction is a set of states such that every trajectory…
In applied sciences, such as physics and biology, it is often required to model the evolution of populations via dynamical systems. In this paper, we focus on the problem of approximating the basins of attraction of such models in case of…
Analysis of nonlinear autonomous systems typically involves estimating domains of attraction, which have been a topic of extensive research interest for decades. Despite that, accurately estimating domains of attraction for nonlinear…
In this paper, we describe a lightweight Python framework that provides integrated learning and verification of neural Lyapunov functions for stability analysis. The proposed tool, named LyZNet, learns neural Lyapunov functions using…
A systematic approach to maximise estimates on the region of attraction in the exponential stabilisation of geometrically exact (nonlinear) beam models via boundary feedback is presented. Starting from recently established stability results…
In this paper, we consider the data-driven discovery of stable dynamical models with a single equilibrium. The proposed approach uses a basis-function parameterization of the differential equations and the associated Lyapunov function. This…
We propose a learning-based method for Lyapunov stability analysis of piecewise affine dynamical systems in feedback with piecewise affine neural network controllers. The proposed method consists of an iterative interaction between a…
This paper deals with the stability analysis of a mass-spring system subject to friction using Lyapunov-based arguments. As the described system presents a stick-slip phenomenon, the mass may then periodically sticks to the ground. The…
In the design and operation of complex dynamical systems, it is essential to ensure that all state trajectories of the dynamical system converge to a desired equilibrium within a guaranteed stability region. Yet, for many practical systems…
This paper deals with a special type of Lyapunov functions, namely the solution of Zubov's equation. Such a function can be used to characterize the domain of attraction for systems of ordinary differential equations. We derive and prove an…
In this paper, we propose an iterative method for using SOS programming to estimate the region of attraction of a polynomial vector field, the conjectured convergence of which necessitates the existence of polynomial Lyapunov functions…
The basin of attraction is the set of initial points that will eventually converge to some attracting set. Its knowledge is important in understanding the dynamical behavior of a given dynamical system of interest. In this work, we address…
Analysis of transient stability of strongly nonlinear post-fault dynamics is one of the most computationally challenging parts of Dynamic Security Assessment. This paper proposes a novel approach for assessment of transient stability of the…
This paper presents an analysis approach to finite-time attraction in probability concerns with nonlinear systems described by nonlinear random differential equations (RDE). RDE provide meticulous physical interpreted models for some…
Point-to-point and periodic motions are ubiquitous in the world of robotics. To master these motions, Autonomous Dynamic System (DS) based algorithms are fundamental in the domain of Learning from Demonstration (LfD). However, these…
Recent advances in learning techniques have enabled the modelling of unknown dynamical systems directly from data. However, in many contexts, these learning-based methods are short of safety guarantee and strict stability verification. To…
We consider discrete-time switching systems composed of a finite family of affine sub-dynamics. First, we recall existing results and present further analysis on the stability problem, the existence and characterization of compact…
For complex nonlinear systems, it is challenging to design algorithms that are fast, scalable, and give an accurate approximation of the stability region. This paper proposes a sampling-based approach to address these challenges. By…
We consider stability analysis of constrained switching linear systems in which the dynamics is unknown and whose switching signal is constrained by an automaton. We propose a data-driven Lyapunov framework for providing probabilistic…