相关论文: Nonlinear Trajectory-Based Region of Attraction Es…

The region of attraction characterizes well-behaved and safe operation of a nonlinear system and is hence sought after for verification. In this paper, a framework for probabilistic region of attraction estimation is developed that combines…

Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…

This study presents a method, along with its algorithmic and computational framework implementation, and performance verification for dynamical system identification. The approach incorporates insights from phase space structures, such as…

As the integration of renewable energy generation increases and as conventional generation is phased out, there is a gradual decline in the grid's strength and resilience at the connection point of wind turbines (WTs). Previous studies have…

Analyzing nonlinear systems with attracting robust invariant sets (RISs) requires estimating their domains of attraction (DOAs). Despite extensive research, accurately characterizing DOAs for general nonlinear systems remains challenging…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

A general numerical method using sum of squares programming is proposed to address the problem of estimating the region of attraction (ROA) of an asymptotically stable equilibrium point of a nonlinear polynomial system. The method is based…

Many engineered physical processes exhibit nonlinear but asymptotically stable dynamics that converge to a finite set of equilibria determined by control inputs. Identifying such systems from data is challenging: stable dynamics provide…

This letter describes a method for estimating regions of attraction and bounds on permissible perturbation amplitudes in nonlinear fluids systems. The proposed approach exploits quadratic constraints between the inputs and outputs of the…

While stability analysis is a mainstay for control science, especially computing regions of attraction of equilibrium points, until recently most stability analysis tools always required explicit knowledge of the model or a high-fidelity…

Contraction analysis is a stability theory for nonlinear systems where stability is defined incrementally between two arbitrary trajectories. It provides an alternative framework in which to study uncertain interconnections or systems with…

A coupled computational approach to simultaneously learn a vector field and the region of attraction of an equilibrium point from generated trajectories of the system is proposed. The nonlinear identification leverages the local stability…

As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…

A systematic approach to nonlinear model order reduction (NMOR) of coupled fluid-structureflight dynamics systems of arbitrary fidelity is presented. The technique employs a Taylor series expansion of the nonlinear residual around…

This paper presents a model based on an hybrid system to numerically simulate the climbing phase of an aircraft. This model is then used within a trajectory prediction tool. Finally, the Covariance Matrix Adaptation Evolution Strategy…

Most of nonlinear robust control methods just consider the affine nonlinear nominal model. When the nominal model is assumed to be affine nonlinear, available information about existing non-affine nonlinearities is ignored. For non-affine…

Neural networks are increasingly used in robotics as policies, state transition models, state estimation models, or all of the above. With these components being learned from data, it is important to be able to analyze what behaviors were…

This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…

Contraction theory is an analytical tool to study differential dynamics of a non-autonomous (i.e., time-varying) nonlinear system under a contraction metric defined with a uniformly positive definite matrix, the existence of which results…

Approximating regions of attraction in nonlinear systems require extensive computational and analytical efforts. In this paper, nonlinear vector fields are recasted as sum of vectors where each individual vector is used to construct an…