Related papers: Sequentially learning regions of attraction from d…
Constraint admissible positively invariant (CAPI) sets play a pivotal role in ensuring safety in control and planning applications, such as the recursive feasibility guarantee of explicit reference governor and model predictive control.…
Estimating the region of attraction (ROA) of general nonlinear autonomous systems remains a challenging problem and requires a case-by-case analysis. Leveraging the universal approximation property of neural networks, in this paper, we…
This paper introduces a novel framework to construct the region of attraction (ROA) of a power system centered around a stable equilibrium by using stable state trajectories of system dynamics. Most existing works on estimating ROA rely on…
This paper presents an efficient, offline method to simultaneously synthesize controllers and seek closed-loop Lyapunov functions for constrained piecewise affine systems on triangulated subsets of the admissible states. Triangulation…
Learning-based neural network (NN) control policies have shown impressive empirical performance. However, obtaining stability guarantees and estimates of the region of attraction of these learned neural controllers is challenging due to the…
When learning to perform motor tasks in a simulated environment, neural networks must be allowed to explore their action space to discover new potentially viable solutions. However, in an online learning scenario with physical hardware,…
This paper presents a new chaotic system having four attractors, including two fixed point attractors and two symmetrical chaotic strange attractors. Dynamical properties of the system, viz. sensitive dependence on initial conditions,…
Many existing tools in nonlinear control theory for establishing stability or safety of a dynamical system can be distilled to the construction of a certificate function that guarantees a desired property. However, algorithms for…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…
The estimation for the region of attraction (ROA) of an asymptotically stable equilibrium point is crucial in the analysis of nonlinear systems. There has been a recent surge of interest in estimating the solution to Zubov's equation, whose…
Motivated by the goal of having a building block in the direct design of data-driven controllers for nonlinear systems, we show how, for an unknown discrete-time bilinear system, the data collected in an offline open-loop experiment enable…
We investigate the problem of verifying different properties of discrete time dynamical systems, namely, reachability, safety and reach-while-avoid. To achieve this, we adopt a data driven perspective and, using past system trajectories as…
Finding Lyapunov functions to certify the stability of control systems has been an important topic for verifying safety-critical systems. Most existing methods on finding Lyapunov functions require access to the dynamics of the system.…
The contributions of this technical note are twofold. Firstly, we formulate an optimization problem to obtain a linear representation of a nonlinear vector field based on a system's trajectory. We also prove that its cost function is…
Verifying stability and safety guarantees for nonlinear systems has received considerable attention in recent years. This property serves as a fundamental building block for specifying more complex system behaviors and control objectives.…
In this paper, we propose a new convex approach to stability analysis of nonlinear systems with polynomial vector fields. First, we consider an arbitrary convex polytope that contains the equilibrium in its interior. Then, we decompose the…
The practical deployment of learning-based autonomous systems would greatly benefit from tools that flexibly obtain safety guarantees in the form of certificate functions from data. While the geometrical properties of such certificate…
This paper deals with the certification problem for robust quadratic stability, robust state convergence, and robust quadratic performance of linear systems that exhibit bounded rates of variation in their parameters. We consider both…
As data-driven methods are deployed in real-world settings, the processes that generate the observed data will often react to the decisions of the learner. For example, a data source may have some incentive for the algorithm to provide a…
We consider the stability analysis of a large class of linear 1-D PDEs with polynomial data. This class of PDEs contains, as examples, parabolic and hyperbolic PDEs, PDEs with boundary feedback and systems of in-domain/boundary coupled…