Related papers: Feedback Synthesis for Nonlinear Systems Via Conve…
This work is devoted to the construction of feedback laws which guarantee the robust global exponential stability of the uncongested equilibrium point for general discrete-time freeway models. The feedback construction is based on a control…
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…
To promote the widespread use of mobile robots in diverse fields, the performance of trajectory tracking must be ensured. To address the constraints and nonlinear features associated with mobile robot systems, we apply nonlinear model…
We propose the application of Koopman operator theory for the design of stabilizing feedback controller for a nonlinear control system. The proposed approach is data-driven and relies on the use of time-series data generated from the…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
It is an interesting open problem to achieve adaptive prescribed-time control for strict-feedback systems with unknown and fast or even abrupt time-varying parameters. In this paper we present a solution with the aid of several design and…
Through the use of the Fundamental Lemma for linear systems, a direct data-driven state-feedback control synthesis method is presented for a rather general class of nonlinear (NL) systems. The core idea is to develop a data-driven…
In this paper, we propose a data-driven approach to derive explicit predictive control laws, without requiring any intermediate identification step. The keystone of the presented strategy is the exploitation of available priors on the…
This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
This paper considers a class of nonlinear systems consisting of a linear part with an external input and a nonlinear feedback with a backlash. Assuming that the latter is specified by a strongly convex set, we establish estimates for the…
We provide general methods for explicitly constructing strict Lyapunov functions for fully nonlinear slowly time-varying systems. Our results apply to cases where the given dynamics and corresponding frozen dynamics are not necessarily…
This paper considers the class of deterministic continuous-time optimal control problems (OCPs) with piecewise-affine (PWA) vector field, polynomial Lagrangian and semialgebraic input and state constraints. The OCP is first relaxed as an…
This paper investigates the finite-time adaptive fuzzy tracking control problem for a class of pure-feedback system with full-state constraints. With the help of Mean-Value Theorem, the pure-feedback nonlinear system is transformed into…
The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous…
We present a method for representing the closed-loop dynamics of piecewise affine (PWA) systems with bounded additive disturbances and neural network-based controllers as mixed-integer (MI) linear constraints. We show that such…
This paper introduces a novel closed-form strategy that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of a set of convex constraints. The main idea consists of translating constraints in…
In this paper, we design nonlinear state feedback controllers for discrete-time polynomial dynamical systems via the occupation measure approach. We propose the discrete-time controlled Liouville equation, and use it to formulate the…
A boundary feedback stabilisation problem of non-uniform linear hyperbolic systems of balance laws with additive disturbance is discussed. A continuous and a corresponding discrete Lyapunov function is defined. Using an…
This paper develops a semidefinite-programming-based method for online feedback control of nonlinear systems using a state-dependent representation. We formulate sequences of time-varying SDPs whose optimal solutions jointly yield a…
This paper studies the problem of constructing control Lyapunov functions (CLFs) and feedback stabilization strategies for deterministic nonlinear control systems described by ordinary differential equations. Many numerical methods for…