相关论文: Lyapunov Event-triggered Stabilization with a Know…

The theoretical unification of Nonlinear Model Predictive Control (NMPC) with Control Lyapunov Functions (CLFs) provides a framework for achieving optimal control performance while ensuring stability guarantees. In this paper we present the…

We propose novel event-triggered synergistic controllers for nonlinear continuous-time plants by incorporating event-triggered control into stabilizing synergistic controllers. We highlight that a naive application of common…

In a recent paper [8], we introduced a data-based approach to design event-triggered controllers for linear systems directly from data. Here, we extend the results in [8] to a class of nonlinear systems. We provide two data-based designs…

This article studies the event-triggered control problem of general nonlinear systems with time delay. A novel event-triggering scheme is presented with two tunable design parameters, based on a Lyapunov functional result for the…

Given a Control Lyapunov Function (CLF), Sontag's famous Formula provides a nonlinear state-feedback guaranteeing asymptotic stability of the setpoint. At the same time, a cost function that depends on the CLF is minimized. While there…

In this paper, we propose a quadratic programming-based filter for safe and stable controller design, via a Control Barrier Function (CBF) and a Control Lyapunov Function (CLF). Our method guarantees safety and local asymptotic stability…

This technical note studies Lyapunov-like conditions to ensure a class of dynamical systems to exhibit predefined-time stability. The origin of a dynamical system is predefined-time stable if it is fixed-time stable and an upper bound of…

Koopman operator-based methods enable data-driven bilinear representations of unknown nonlinear control systems. Accurate representations often demand significantly higher dimensions than the original system, making control design…

This paper introduces the concept of parameter-dependent (PD) control Lyapunov functions (CLFs) for gain-scheduled stabilization of nonlinear parameter-varying (NPV) systems. It shows that given a PD-CLF, a min-norm control law can be…

This article aims at providing a unified analysis of the exponential stabilization of some abstract infinite dimensional systems undergoing an event-triggering mechanism that samples the control input. The partial differential equation is…

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…

We propose a real-time control strategy that combines self-triggered control with Control Lyapunov Functions (CLF) and Control Barrier Functions (CBF). Similar to related works proposing CLF-CBF-based controllers, the computation of the…

Modern end-to-end learning systems can learn to explicitly infer control from perception. However, it is difficult to guarantee stability and robustness for these systems since they are often exposed to unstructured, high-dimensional, and…

Reinforcement Learning (RL) has shown promise in control tasks but faces significant challenges in real-world applications, primarily due to the absence of safety guarantees during the learning process. Existing methods often struggle with…

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…

Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…

With the unceasing growth of intelligent production lines that integrate sensors, actuators, and controllers in a wireless communication environment via internet of things (IoT), we design an event-triggered boundary controller for a…

We present verifiable conditions for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety under bounded controls. These sufficient conditions ensure the strict compatibility of a control barrier…

We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of control Lyapunov functions (CLFs) and control barrier…

Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…