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Designing stabilizing controllers is a fundamental challenge in autonomous systems, particularly for high-dimensional, nonlinear systems that can hardly be accurately modeled with differential equations. The Lyapunov theory offers a…
This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key challenge in designing controllers with stability guarantees for…
In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges…
This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…
Extended reservoirs provide a framework for capturing macroscopic, continuum environments, such as metallic electrodes driving a current through a nanoscale contact, impurity, or material. We examine the application of this approach to…
Event-Triggered Control (ETC) reduces communication overhead in networked systems by transmitting only when stability requires it. Conventional mechanisms use isotropic error thresholds ($\|e\| \le \sigma \|x\|$), treating all directions…
It is known that state-dependent, multi-step Lyapunov bounds lead to greatly simplified verification theorems for stability for large classes of Markov chain models. This is one component of the "fluid model" approach to stability of…
Taking a two-level system as an example, we show that a strong control field may enhance the efficiency of optimal Lyapunov quantum control in [Hou et al., Phys. Rev. A \textbf{86}, 022321 (2012)] but could decrease its control fidelity. A…
For data-driven control of nonlinear systems, the basis functions characterizing the dynamics are usually essential. In existing works, the basis functions are often carefully chosen based on pre-knowledge of the dynamics so that the system…
Hyperexponential stability is investigated for dynamical systems with the use of both, explicit and implicit, Lyapunov function methods. A nonlinear hyperexponential control is designed for stabilizing linear systems. The tuning procedure…
This paper proposes control laws ensuring the stabilization of a time-varying desired joint trajectory, as well as joint limit avoidance, in the case of fully-actuated manipulators. The key idea is to perform a parametrization of the…
Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and…
We consider a system of linear hyperbolic PDEs where the state at one of the boundary points is controlled using the measurements of another boundary point. Because of the disturbances in the measurement, the problem of designing dynamic…
This paper proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including…
Nonlinear robust control is pursued by overcoming the drawback of linear robust control that it ignores available information about existing nonlinearities and the resulting controllers may be too conservative, especially when the…
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical…
Various control methods have been studied to control the position and attitude of quadrotors. There are some differences in the mathematical equations between the two types of quadrotor configurations that lead to different control…
As a hybrid of techniques from open-loop and feedback control, Lyapunov control has the advantage that it is free from the measurement-induced decoherence but it includes the system's instantaneous message in the control loop. Often, the…
The problem of scheduling in quantum networks amounts to choosing which entanglement swapping operations to perform to better serve user demand. The choice can be carried out following a variety of criteria (e.g. ensuring all users are…
In this study, we propose new global stabilization approaches for a class of polynomial systems in both model-based and data-driven settings. The existing model-based approach guarantees global asymptotic stability of the closed-loop system…