相关论文: Long-time Average Cost Control of Polynomial Syste…
The paper presents a nonlinear state-feedback control design approach for long-time average cost control, where the control effort is assumed to be expensive. The approach is based on sum-of-squares and semi-definite programming techniques.…
A novel nonlinear feedback control design methodology for incompressible fluid flows aiming at the optimisation of long-time averages of flow quantities is presented. It applies to reduced-order finite-dimensional models of fluid flows,…
We present a method for synthesizing dynamic, reduced-order output-feedback polynomial control policies for control-affine nonlinear systems which guarantees runtime stability to a goal state, when using visual observations and a learned…
This work considers the infinite-time discounted optimal control problem for continuous time input-affine polynomial dynamical systems subject to polynomial state and box input constraints. We propose a sequence of sum-of-squares (SOS)…
One of the desirable objectives in feedback control design is to formulate and solve the design problem as an optimisation problem that is convex, so that an optimal solution can be found efficiently. Unfortunately many control design…
This paper presents an approach to systematically design sliding mode control and manifold to stabilize nonlinear uncertain systems. The objective is also accomplished to enlarge the inner bound of region of attraction for closed-loop…
Discrete-time Control Barrier Functions (DTCBFs) are commonly utilized in the literature as a powerful tool for synthesizing control policies that guarantee safety of discrete-time dynamical systems. However, the systematic synthesis of…
The reduction of constraints to obtain minimal representations of sets is a very common problem in many engineering applications. While well-established methodologies exist for the case of linear constraints, the problem of how to detect…
This work presents a computationally efficient approach to data-driven robust contracting controller synthesis for polynomial control-affine systems based on a sum-of-squares program. In particular, we consider the case in which a system…
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…
Stability analysis tools are essential to understanding and controlling any engineering system. Recently sum-of-squares (SOS) based methods have been used to compute Lyapunov based estimates for the region-of-attraction (ROA) of polynomial…
We propose a computationally tractable method for the identification of stable canonical discrete-time rational transfer function models, using frequency domain data. The problem is formulated as a global non-convex optimization problem…
In this paper we use optimization-based methods to design output-feedback controllers for a class of one-dimensional parabolic partial differential equations. The output may be distributed or point-measurements. The input may be distributed…
The control Lyapunov function (CLF) approach to nonlinear control design is well established. Moreover, when the plant is control affine and polynomial, sum-of-squares (SOS) optimization can be used to find a polynomial controller as a…
This paper addresses the problem of control synthesis for nonlinear optimal control problems in the presence of state and input constraints. The presented approach relies upon transforming the given problem into an infinite-dimensional…
Motivated by the need for formal guarantees on the stability and safety of controllers for challenging robot control tasks, we present a control design procedure that explicitly seeks to maximize the size of an invariant "funnel" that leads…
This paper focuses on finding approximate solutions to stochastic optimal control problems with control domains being not necessarily convex, where the state trajectory is subject to controlled stochastic differential equations. The…
This paper presents a new method for synthesizing stochastic control Lyapunov functions for a class of nonlinear stochastic control systems. The technique relies on a transformation of the classical nonlinear Hamilton-Jacobi-Bellman partial…
This paper presents a novel convex optimization-based method for finding the globally optimal solutions of a class of mixed-integer non-convex optimal control problems. We consider problems with non-convex constraints that restrict the…
Finite time analysis of the continuous system is investigated through both stability and stabilization based on Sum of squares programming. A systematic approach is proposed to construct Lyapunov function and Control Lyapunov function for…