相关论文: Data-driven stability analysis of switched linear …
This paper tackles state feedback control of switched linear systems under arbitrary switching. We propose a data-driven control framework that allows to compute a stabilizing state feedback using only a finite set of observations of…
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…
Neural-based, data-driven analysis and control of dynamical systems have been recently investigated and have shown great promise, e.g. for safety verification or stability analysis. Indeed, not only do neural networks allow for an entirely…
Can we conclude the stability of an unknown dynamical system from the knowledge of a finite number of snapshots of trajectories? We tackle this black-box problem for switched linear systems. We show that, for any given random set of…
We consider stability analysis of constrained switching linear systems in which the dynamics is unknown and whose switching signal is constrained by an automaton. We propose a data-driven Lyapunov framework for providing probabilistic…
We consider the problem of global stability of nonlinear sampled-data systems. Sampled-data systems are a form of hybrid model which arises when discrete measurements and updates are used to control continuous-time plants. In this paper, we…
We present a data-driven framework based on Lyapunov theory to provide stability guarantees for a family of hybrid systems. In particular, we are interested in the asymptotic stability of switching linear systems whose switching sequence is…
For the class of nonlinear input-affine systems with polynomial dynamics, we consider the problem of designing an input-to-state stabilizing controller with respect to typical exogenous signals in a feedback control system, such as actuator…
We present a framework based on multiple Lyapunov functions to find probabilistic data-driven guarantees on the stability of unknown constrained switching linear systems (CSLS), which are switching linear systems whose switching signal is…
We provide a computer-assisted approach to ensure that a given continuous or discrete-time polynomial system is (asymptotically) stable. Our framework relies on constructive analysis together with formally certified sums of squares Lyapunov…
This paper studies data-driven stabilization of a class of unknown polynomial systems using data corrupted by bounded noise. Existing work addressing this problem has focused on designing a controller and a Lyapunov function so that a…
We introduce a novel approach based on stochastic optimization to find the optimal sampling distribution for the data-driven stability analysis of switched linear systems. Our goal is to address limitations of existing approaches, in…
Stability margins for linear time-varying (LTV) and switched-linear systems are traditionally computed via quadratic Lyapunov functions, and these functions certify the stability of the system under study. In this work, we show how the more…
Neural network controllers have the potential to improve the performance of feedback systems compared to traditional controllers, due to their ability to act as general function approximators. However, quantifying their safety and…
Reliable quasi-static object manuipulation and robotic locomotion require verification of the stability of equilibria under rigid contacts and friction. In a recent paper, M. Posa, M. Tobenkin, and R. Tedrake demonstrated that…
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…
The topic of this manuscript is the stability analysis of continuous-time switched nonlinear systems with constraints on the admissible switching signals. Our particular focus lies in considering signals characterized by upper and lower…
We consider noisy input/state data collected from an experiment on a polynomial input-affine nonlinear system. Motivated by event-triggered control, we provide data-based conditions for input-to-state stability with respect to measurement…
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…
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…