Related papers: Continuous-time Constrained Funnel Synthesis for I…
This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…
This paper is devoted to the study of acceleration methods for an inequality constrained convex optimization problem by using Lyapunov functions. We first approximate such a problem as an unconstrained optimization problem by employing the…
For the constrained LiGME model, a nonconvexly regularized least squares estimation model, we present an iterative algorithm of guaranteed convergence to its globally optimal solution. The proposed algorithm can deal with two different…
In this paper, we propose a novel dynamic state-feedback controller for polytopic linear parameter-varying (LPV) systems with constant input matrix. The controller employs a projected gradient flow method to continuously improve its control…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
We consider the problem of computing the maximal invariant set of discrete-time linear systems subject to a class of non-convex constraints that admit quadratic relaxations. These non-convex constraints include semialgebraic sets and other…
Nonconvex and nonsmooth optimization problems are frequently encountered in much of statistics, business, science and engineering, but they are not yet widely recognized as a technology in the sense of scalability. A reason for this…
We present an algorithm for robust model predictive control with consideration of uncertainty and safety constraints. Our framework considers a nonlinear dynamical system subject to disturbances from an unknown but bounded uncertainty set.…
This paper addresses output reference tracking with prescribed transient performance for unknown nonlinear multi-input multi-output systems with arbitrary relative degree. We propose a novel derivative-free extension of funnel control based…
In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any arbitrarily assigned initial condition.…
We propose a method for open-loop stochastic optimal control of LTI systems based on Taylor approximations of quantile functions. This approach enables efficient computation of quantile functions that arise in chance constrained…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
We consider the problem of optimal sparse output feedback controller synthesis for continuous linear time invariant systems when the feedback gain is static and subject to specified structural constraints. Introducing an additional term…
In this paper, we will investigate the moment exponential stabilization of highly nonlinear hybrid stochastic differential delay equations. A periodically intermittent controller based on discrete time state observations with asynchronous…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
This work is concerned with robust filtering of nonlinear sampled-data systems with and without exact discrete-time models. A linear matrix inequality (LMI) based approach is proposed for the design of robust $H_{\infty}$ observers for a…
We take a divide and conquer approach to design controllers for reachability problems given large-scale linear systems with polyhedral constraints on states, controls, and disturbances. Such systems are made of small subsystems with coupled…
We consider the problem of finite-horizon optimal control design under uncertainty for imperfectly observed discrete-time systems with convex costs and constraints. It is known that this problem can be cast as an infinite-dimensional convex…
Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…
This paper focuses on the resolution of infinite-dimensional Toeplitz Block LMIs, which are frequently encountered in the context of stability analysis and control design problems formulated in the harmonic framework. We propose a…