相关论文: Passivity and Passivity Indices of Nonlinear Syste…

Data-driven control of nonlinear systems with rigorous guarantees is a challenging problem as it usually calls for nonconvex optimization and requires often knowledge of the true basis functions of the system dynamics. To tackle these…

Passivity indices have been widely adopted to derive distributed stability certificates for power systems. Nevertheless, conventional passivity indices remain scalar-valued even for multi-input-multi-output (MIMO) systems, which can…

The focus in this paper is interior-point methods for bound-constrained nonlinear optimization, where the system of nonlinear equations that arise are solved with Newton's method. There is a trade-off between solving Newton systems…

This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…

In this paper, we derive new passive maps akin to incremental passive maps, for a class of nonlinear systems using dynamic feedback and Krasovskii's method. Further using the passive maps we present a control methodology for stabilization…

In this paper, we quantify the resilience of nonlinear dynamical systems by studying the increased energy used by all inputs of a system that suffers a partial loss of control authority, either through actuator malfunctions or through…

This paper introduces a method for predicting the likely behaviors of continuous nonlinear systems in equilibrium in which the input values can vary. The method uses a parameterized equation model and a lower bound on the input joint…

We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown…

This paper concerns the problem of adaptive output regulation for multivariable nonlinear systems in normal form. We present a regulator employing an adaptive internal model of the exogenous signals based on the theory of nonlinear…

We propose a new class of passive nonlinear finite impulse response operators. This class is constructed by the action of finite impulse response filters in a lifted space. This allows for efficient control synthesis through constrained…

We propose and study an algorithm for computing a nearest passive system to a given non-passive linear time-invariant system (with much freedom in the choice of the metric defining `nearest', which may be restricted to structured…

We consider the problem of on-line evaluation of critical characteristic parameters such as the L_2-gain (L2G), input feedforward passivity index (IFP) and output feedback passivity index (OFP) of non-linear systems using their input-output…

This work considers stochastic operators in general inner-product spaces, and in particular, systems with stochastically time-varying input delays of a known probability distribution. Stochastic dissipativity and stability are defined from…

The problem of suboptimality under bounded disturbances for the adaptive systems based on speed-graadient approach is discussed. A formulation of the estimated optimality of nonlinear nonlinearly parametrized adaptive control systems is…

This paper presents a discrete-time passivity-based analysis of the gradient descent method for a class of functions with sector-bounded gradients. Using a loop transformation, it is shown that the gradient descent method can be interpreted…

We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…

We consider nonlinear optimal control problems (OCPs) for which all problem data are polynomial. In the first part of the paper, we review how occupation measures can be used to approximate pointwise the optimal value function of a given…

We pose the approximation problem for scalar nonnegative input-output systems via impulse response convolutions of finite order, i.e. finite order moving averages, based on repeated observations of input/output signal pairs. The problem is…

We study the problem of system identification for stochastic continuous-time dynamics, based on a single finite-length state trajectory. We present a method for estimating the possibly unstable open-loop matrix by employing properly…

This paper shows how the theory of nonlinear adaptive observers can be effectively used in the design of internal models for nonlinear output regulation. The theory substantially enhances the existing results in the context of {\em…