Related papers: EBIF: Exact Bilinearization Iterative Form for Con…
We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets.…
In this paper, we propose an approach for computing invariant sets of discrete-time nonlinear systems by lifting the nonlinear dynamics into a higher dimensional linear model. In particular, we focus on the \emph{maximal admissible…
Current text-to-image diffusion models excel at generating diverse, high-quality images, yet they struggle to incorporate fine-grained camera metadata such as precise aperture settings. In this work, we introduce a novel text-to-image…
An efficient computational approach for optimal reconstruction of binary-type images suitable for models in various applications including biomedical imaging is developed and validated. The methodology includes derivative-free optimization…
We consider a nonlinear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced…
This paper introduces the Koopman Control Family (KCF), a mathematical framework for modeling general (not necessarily control-affine) discrete-time nonlinear control systems with the aim of providing a solid theoretical foundation for the…
Control barrier function (CBF) has recently started to serve as a basis to develop approaches for enforcing safety requirements in control systems. However, constructing such function for a general system is a non-trivial task. This paper…
In this paper, we develop a nonlinear reduction framework based on our recently introduced extended group finite element method. By interpolating nonlinearities onto approximation spaces defined with the help of finite elements, the…
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to…
Many nonlinear optimal control and optimization problems involve constraints that combine continuous dynamics with discrete logic conditions. Standard approaches typically rely on mixed-integer programming, which introduces scalability…
Precise representations of 3D faces are beneficial to various computer vision and graphics applications. Due to the data discretization and model linearity, however, it remains challenging to capture accurate identity and expression clues…
Nonlinear dynamical systems are widely encountered in various scientific and engineering fields. Despite significant advances in theoretical understanding, developing complete and integrated frameworks for analyzing and designing these…
In [22] a form of extremum seeking for control (ESC) was developed for the stabilization of uncertain nonlinear systems. In ESC the extremum seeker itself controls the systems through feedback rather than fine tuning a controller. The ESC…
Data-driven models for nonlinear dynamical systems based on approximating the underlying Koopman operator or generator have proven to be successful tools for forecasting, feature learning, state estimation, and control. It has become well…
In this paper, we introduce the locally conservative enriched immersed finite element method (EIFEM) to tackle the elliptic problem with interface. The immersed finite element is useful for handling interface with mesh unfit with the…
This paper proposes a novel learning-based approach for achieving exponential stabilization of nonlinear control-affine systems. We leverage the Control Contraction Metrics (CCMs) framework to co-synthesize Neural Contraction Metrics (NCMs)…
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The classical formulation of the EKF is posed for nonlinear systems defined on global Euclidean spaces. The design…
Modern data-driven control applications call for flexible nonlinear models that are amenable to principled controller synthesis and realtime feedback. Many nonlinear dynamical systems of interest are control affine. We propose two novel…
Parametric representations of various functions are fundamental tools in science and engineering. This paper introduces a fixed-initial-state constant-input dynamical system (FISCIDS) representation, which provides an exact and parametric…
In this paper, we propose a dual set membership filter for nonlinear dynamic systems with unknown but bounded noises, and it has three distinctive properties. Firstly, the nonlinear system is translated into the linear system by leveraging…