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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…
Fixed-time stable dynamical systems are capable of achieving exact convergence to an equilibrium point within a fixed time that is independent of the initial conditions of the system. This property makes them highly appealing for designing…
Recent developments in data-driven control have revived interest in the behavioral approach to systems theory, where systems are defined as sets of trajectories rather than being described by a specific model or representation. However,…
We present a true-dynamics-agnostic, statistically rigorous framework for establishing exponential stability and safety guarantees of closed-loop, data-driven nonlinear control. Central to our approach is the novel concept of conformal…
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe…
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…
For mechanical systems we present a controller able to track an unknown smooth signal, converging in finite time and by means of a continuous control signal. The control scheme is insensitive against unknown perturbations with bounded…
This paper presents a nonlinear model predictive control strategy for stochastic systems with general (state and input dependent) disturbances subject to chance constraints. Our approach uses an online computed stochastic tube to ensure…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
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…
Using a nonlocal macroscopic LWR-type traffic flow model, we present an approach to control the nonlocal velocity towards a given equilibrium velocity. Therefore, we present a Lyapunov function measuring the $L^2$ distance between these…
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…
The controller of an input-affine system is determined through minimizing a time-varying objective function, where stabilization is ensured via a Lyapunov function decay condition as constraint. This constraint is incorporated into the…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…
This paper presents an anti-windup PI controller, using a saturating integrator, for a single-input single-output stable nonlinear plant, whose steady-state input-output map is increasing. We prove that, under reasonable assumptions, there…
Robotic systems are frequently deployed in missions that are dull, dirty, and dangerous, where ensuring their safety is of paramount importance when designing stabilizing controllers to achieve their desired goals. This paper addresses the…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
We introduce a novel Lyapunov function for stabilization of linear Vlasov--Fokker--Planck type equations with stiff source term. Contrary to existing results relying on transport properties to obtain stabilization, we present results based…
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…