相关论文: Switching between Limit Cycles in a Model of Runni…

The paper revisits a Lyapunov-based feedback control to implement spacecraft orbital transfer maneuvers. The spacecraft equations of motion in the form of Gauss Variational Equations (GVEs) are used. By shaping the Lyapunov function using…

Designing control policies for stabilization tasks with provable guarantees is a long-standing problem in nonlinear control. A crucial performance metric is the size of the resulting region of attraction, which essentially serves as a…

Numerical solutions for the optimal feedback stabilization of discrete time dynamical systems is the focus of this paper. Set-theoretic notion of almost everywhere stability introduced by the Lyapunov measure, weaker than conventional…

We investigate the maximum number of limit cycles bifurcating from the period annulus of a family of cubic polynomial differential centers when it is perturbed inside the class of all cubic piecewise smooth polynomials. The family…

Learning-based neural network (NN) control policies have shown impressive empirical performance. However, obtaining stability guarantees and estimates of the region of attraction of these learned neural controllers is challenging due to the…

We establish the existence of a bifurcation from an attractive random equilibrium to shear-induced chaos for a stochastically driven limit cycle, indicated by a change of sign of the first Lyapunov exponent. This addresses an open problem…

Rapid state control of quantum systems is significant in reducing the influence of relaxation or decoherence caused by the environment and enhancing the capability in dealing with uncertainties in the model and control process. Bang-bang…

We propose a novel flexible-step model predictive control algorithm for unknown linear time-invariant discrete-time systems. The goal is to asymptotically stabilize the system without relying on a pre-collected dataset that describes its…

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,…

This paper deals with an isoperimetric optimal control problem for nonlinear control-affine systems with periodic boundary conditions. As it was shown previously, the candidates for optimal controls for this problem can be obtained within…

This paper presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and…

Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…

In dynamical systems limit cycles arise as a result of a Hopf bifurcation, after a control parameter has crossed its critical value. In this study we present a constructive method to produce dissipative dynamics which lead to stable…

A limit cycle is a self-sustained periodic motion appearing in autonomous ordinary differential equations. As the period of the limit cycle is a-priori unknown, it is challenging to find them as stationary states of a rotating ansatz.…

Stability and safety are two important aspects in safety-critical control of dynamical systems. It has been a well established fact in control theory that stability properties can be characterized by Lyapunov functions. Reachability…

In this paper, we present a control framework for a general class of control-affine nonlinear systems under spatiotemporal and input constraints. Specifically, the proposed control architecture addresses the problem of reaching a given…

In this paper, a method to achieve smooth transitions between sequential reachability tasks for a continuous time mobile robotic system is presented. Control barrier functions provide formal guarantees of forward invariance of safe sets and…

Barrier Lyapunov functions are suitable for learning control designs, due to their feature of finite duration tracking. This paper presents fractional barrier Lyapunov functions, provided and compared with the conventional ones in the…

In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient…

Synergistic hybrid feedback refers to a collection of feedback laws that allow for global asymptotic stabilization of a compact set through the following switching logic: given a collection of Lyapunov functions that are indexed by a logic…