相关论文: Operator Preparation and Characteristic Analysis o…
This paper proposes a hierarchical Lyapunov-based adaptive cascade control scheme for a lower-limb exoskeleton with control saturation. The proposed approach is composed by two control levels with cascade structure. At the higher layer of…
Computer assisted procedures of Lyapunov functions defined in given neighborhoods of fixed points for flows and maps are discussed. We provide a systematic methodology for constructing explicit ranges where quadratic Lyapunov functions…
The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…
We augment existing generator-side primary frequency control with load-side control that are local, ubiquitous, and continuous. The mechanisms on both the generator and the load sides are decentralized in that their control decisions are…
A systematic scheme is proposed to numerically estimate the quantum speed limit and temporal shape of optimal control in two-level and three-level quantum systems with bounded amplitude. For the two-level system, two quantum state…
In the interaction picture, a sufficient and necessary condition that guarantees the convergence of closed quantum control system is proposed in this paper. Theoretical derivation and the proof show that it is possible to achieve the…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
This paper presents a novel method to synthesize stochastic control Lyapunov functions for a class of nonlinear, stochastic control systems. In this work, the classical nonlinear Hamilton-Jacobi-Bellman partial differential equation is…
In building a quantum information processor (QIP), the challenge is to coherently control a large quantum system well enough to perform an arbitrary quantum algorithm and to be able to correct errors induced by decoherence. Nuclear magnetic…
This work proposes numerical tests which determine whether a two-qubit operator has an atypically simple quantum circuit. Specifically, we describe formulae, written in terms of matrix coefficients, characterizing operators implementable…
The paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. The design of the cruise controllers is based on the appropriate selection of a Control Lyapunov Function expressed on measures of…
The Lyapunov inequality is an indispensable tool for stability analysis in linear control theory. It provides a necessary and sufficient condition for the stability of an autonomous linear-time invariant system in terms of the existence of…
We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-supervised learning setting that jointly learns a controller…
In the article$^a$, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equations. The authors established asymptotic stability with the…
Lyapunov functions play a fundamental role in analyzing the stability and convergence properties of optimization methods. In this paper, we propose a novel and straightforward approach for constructing Lyapunov functions for first-order…
In this paper, a novel continuous non-smooth control strategy is proposed to achieve finite-time stabilization of ladder quantum systems. We first design a universal fractional-order control law for a ladder n-level quantum system using a…
The realization of high-fidelity quantum control is crucial for quantum information processing, particularly in noisy environments where control strategies must simultaneously achieve precise manipulation and effective noise suppression.…
Quantum control of an open system is demonstrated employing a thermodynamically consistent master equation. In this framework, the open system dynamics depend on the control protocol due to the dressing of the system by the drive. This…
This paper introduces the Progressive Barrier Lyapunov Function (p-BLF) for output- and full-state-constrained nonlinear control systems. Unlike traditional BLF methods, where control effort continuously increases as the state approaches…
Learning and synthesizing stabilizing controllers for unknown nonlinear control systems is a challenging problem for real-world and industrial applications. Koopman operator theory allows one to analyze nonlinear systems through the lens of…