相关论文: A generalized chordal metric making strong stabili…

A quantitative frequency-domain condition related to the exponential stabilizability for infinite-dimensional linear control systems is presented. It is proven that this condition is necessary and sufficient for the stabilizability of…

In this paper we address the question of robustness of critical bit rates for the stabilization of networked control systems over digital communication channels. For a deterministic nonlinear system, the smallest bit rate above which…

We propose a new way of thinking about one parameter persistence. We believe topological persistence is fundamentally not about decomposition theorems but a central role is played by a choice of metrics. Choosing a pseudometric between…

Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…

Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…

The duality between controllability and observability enables methods developed for full-state control to be applied to full-state estimation, and vice versa. In applications in which control or estimation of all state variables is…

We introduce Harmonic Robustness, a powerful and intuitive method to test the robustness of any machine-learning model either during training or in black-box real-time inference monitoring without ground-truth labels. It is based on…

This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…

Cone spherical metrics are conformal metrics with constant curvature one and finitely many conical singularities on compact Riemann surfaces. A cone spherical metric is called irreducible if each developing map of the metric does not have…

This paper proposes a new logic RoCTL* to model robustness in concurrent systems. RoCTL* extends CTL* with the addition of Obligatory and Robustly operators, which quantify over failure-free paths and paths with one more failure…

We describe the notion of stability of coherent systems as a framework to deal with redundancy. We define stable coherent systems and show how this notion can help the design of reliable systems. We demonstrate that the reliability of…

This work explores the trade-off between the number of samples required to accurately build models of dynamical systems and the degradation of performance in various control objectives due to a coarse approximation. In particular, we show…

Recently, adversarial deception becomes one of the most considerable threats to deep neural networks. However, compared to extensive research in new designs of various adversarial attacks and defenses, the neural networks' intrinsic…

The new concept of relative generic subsets is introduced. It is shown that the set of controllable linear finite-dimensional port-Hamiltonian systems is a relative generic subset of the set of all linear finite-dimensional port-Hamiltonian…

This paper deals with strong structural controllability of linear structured systems in which the system matrices are given by zero/nonzero/arbitrary pattern matrices. Instead of assuming that the nonzero and arbitrary entries of the system…

This paper studies the robustness of feature attribution methods for deep neural networks. It challenges the current notion of attributional robustness that largely ignores the difference in the model's outputs and introduces a new way of…

Lyapunov stability theory is the bedrock of direct adaptive control. Fundamentally, Lyapunov stability requires constructing a distance-like function which must decrease with time to ensure stability. Feedback linearization, backstepping,…

For electro-optical imaging systems, line-of-sight stabilization against different disturbances created by mobile platforms is crucial property. The development of high resolution sensors and the demand in increased operating distances have…

Copositive linear Lyapunov functions are used along with dissipativity theory for stability analysis and control of uncertain linear positive systems. Unlike usual results on linear systems, linear supply-rates are employed here for…

Optimal control of closed quantum systems is a well studied geometrically elegant set of computational theory and techniques that have proven pivotal in the implementation and understanding of quantum computers. The design of a circuit…