相关论文: Invariant Funnels around Trajectories using Sum-of…

In this paper, we present a novel approach to determine the stability of switched linear and nonlinear systems using Sum of Squares optimisation. Particularly, we use Sum of Squares optimisation to search for a Lyapunov function that…

We provide algorithms for computing a Lyapunov function for a class of systems where the state trajectories are constrained to evolve within a closed convex set. The dynamical systems that we consider comprise a differential equation which…

Monotone systems preserve a partial ordering of states along system trajectories and are often amenable to separable Lyapunov functions that are either the sum or the maximum of a collection of functions of a scalar argument. In this paper,…

In the context of spacecraft attitude control, parametrizations such as direction vectors or quaternions are often used to avoid singularities in the attitude representation. This, however, complicates the stability analysis of the system…

Hybrid dynamical systems can exhibit many unique phenomena, such as Zeno behavior. Zeno behavior is the occurrence of infinite discrete transitions in finite time. Zeno behavior has been likened to a form of finite-time asymptotic…

Finite-time stability (FTS) of a differential equation guarantees that solutions reach a given equilibrium point in finite time, where the time of convergence depends on the initial state of the system. For traditional stability notions…

Quantitative loop invariants are an essential element in the verification of probabilistic programs. Recently, multivariate Lagrange interpolation has been applied to synthesizing polynomial invariants. In this paper, we propose an…

Traditional Lyapunov based transient stability assessment approaches focus on identifying the stability region (SR) of the equilibrium point under study. When trying to estimate this region using Lyapunov functions, the shape of the final…

This work studies the problem of searching for homogeneous polynomial Lyapunov functions for stable switched linear systems. Specifically, we show an equivalence between polynomial Lyapunov functions for systems of this class and quadratic…

This paper presents a funnel synthesis algorithm for computing controlled invariant sets and feedback control gains around a given nominal trajectory for dynamical systems with locally Lipschitz nonlinearities and bounded disturbances. The…

This article presents a novel numerically tractable technique for synthesizing Lyapunov functions for equilibria of nonlinear vector fields. In broad strokes, corresponding to an isolated equilibrium point of a given vector field, a…

This paper presents a counterexample-guided iterative algorithm to compute convex, piecewise linear (polyhedral) Lyapunov functions for uncertain continuous-time linear hybrid systems. Polyhedral Lyapunov functions provide an alternative to…

We consider extensions of the Shannon relative entropy, referred to as $f$-divergences.Three classical related computational problems are typically associated with these divergences: (a) estimation from moments, (b) computing normalizing…

In this paper we discuss how to generate inductive invariants for safety verification of hybrid systems. A hybrid symbolic-numeric method is presented to compute inequality inductive invariants of the given systems. A numerical invariant of…

This paper aims at providing rigorous numerical computation procedure for finite-time singularities in dynamical systems. Combination of time-scale desingularization as well as Lyapunov functions validation on stable manifolds of invariant…

In this paper we present methods for the synthesis of polynomial invariants for probabilistic transition systems. Our approach is based on martingale theory. We construct invariants in the form of polynomials over program variables, which…

We give new algorithms based on the sum-of-squares method for tensor decomposition. Our results improve the best known running times from quasi-polynomial to polynomial for several problems, including decomposing random overcomplete…

Recently sum-of-squares (SOS) based methods have been used for the stability analysis and control synthesis of polynomial dynamical systems. This analysis framework was also extended to non-polynomial dynamical systems, including power…

We study the computation of local approximations of invariant manifolds of parabolic fixed points and parabolic periodic orbits of periodic vector fields. If the dimension of these manifolds is two or greater, in general, it is not possible…

We propose a method to outer bound forward reachable sets on finite horizons for uncertain nonlinear systems with polynomial dynamics. This method makes use of time-dependent polynomial storage functions that satisfy appropriate dissipation…