相关论文: Divergence Conditions for Investigation and Contro…

The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…

We introduce a method for learning provably stable deep neural network based dynamic models from observed data. Specifically, we consider discrete-time stochastic dynamic models, as they are of particular interest in practical applications…

This note deals with the boundary control problem of a nonhomogeneous flexible wing evolving under unsteady aerodynamic loads. The wing is actuated at its tip by flaps and is modeled by a distributed parameter system consisting of two…

We propose a technique for the design and analysis of adaptation algorithms in dynamical systems. The technique applies both to systems with conventional Lyapunov-stable target dynamics and to ones of which the desired dynamics around the…

This paper introduces a framework for learning a minimum-norm stabilizing controller for a system with unknown dynamics using model-free policy optimization methods. The approach begins by first designing a Control Lyapunov Function (CLF)…

Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…

This contribution presents two exponential stability criteria for linear systems with multiple pointwise and distributed delays. These results (necessary and sufficient conditions) are given in terms of the delay Lyapunov matrix and the…

In this paper, we present a novel approach to determine the stability of switched linear and nonlinear systems using Sum of Squares optimisation. Particularly, we use Sum of Squares optimisation to search for a Lyapunov function that…

Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applications. In our previous work, we theoretically analyzed…

Lyapunov functions provide a tool to analyze the stability of nonlinear systems without extensively solving the dynamics. Recent advances in sum-of-squares methods have enabled the algorithmic computation of Lyapunov functions for…

We develop a model-free framework for stabilizing quantum states using only empirical finite-difference evaluations of a measurement-derived Lyapunov observable. The controller requires no knowledge of the Hamiltonian, dissipative…

This paper studies the problem of decentralized measurement feedback stabilization of nonlinear interconnected systems. As a natural extension of the recent development on control vector Lyapunov functions, the notion of output control…

A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…

We analyze stability properties of monotone nonlinear systems via max-separable Lyapunov functions, motivated by the following observations: first, recent results have shown that asymptotic stability of a monotone nonlinear system implies…

We are interested in the control of forming processes for nonlinear material models. To develop an online control we derive a novel feedback law and prove a stabilization result. The derivation of the feedback control law is based on a…

This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…

This article provides a characterization of stability for switched nonlinear systems under average dwell-time constraints, in terms of necessary and sufficient conditions involving multiple Lyapunov functions. Earlier converse results focus…

This article presents a modeling framework for a class of multiphase chemical systems based on non-equilibrium thermodynamics. Compartmental modeling is used to establish the dynamic properties of liquid-vapor systems operating far from…

This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…

The stability of the zero solution of a nonlinear Caputo fractional differential equation with noninstantaneous impulses is studied using Lyapunov like functions. The novelty of this paper is based on the new definition of the derivative of…