相关论文: Initial Application of SONC to Lyapunov Stability …
We show that existence of a global polynomial Lyapunov function for a homogeneous polynomial vector field or a planar polynomial vector field (under a mild condition) implies existence of a polynomial Lyapunov function that is a sum of…
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…
In a recent paper we have shown how to learn controllers for unknown linear systems using finite-sized noisy data by solving linear matrix inequalities. In this note we extend this approach to deal with unknown nonlinear polynomial systems…
We consider the stability analysis of a large class of linear 1-D PDEs with polynomial data. This class of PDEs contains, as examples, parabolic and hyperbolic PDEs, PDEs with boundary feedback and systems of in-domain/boundary coupled…
We introduce the concept of sos-convex Lyapunov functions for stability analysis of both linear and nonlinear difference inclusions (also known as discrete-time switched systems). These are polynomial Lyapunov functions that have an…
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…
The dynamics of many systems from physics, economics, chemistry, and biology can be modelled through polynomial functions. In this paper, we provide a computational means to find positively invariant sets of polynomial dynamical systems by…
Analysis of transient stability of strongly nonlinear post-fault dynamics is one of the most computationally challenging parts of Dynamic Security Assessment. This paper proposes a novel approach for assessment of transient stability of the…
Stability certificates play a critical role in ensuring the safety and reliability of robotic systems. However, deriving these certificates for complex, unknown systems has traditionally required explicit knowledge of system dynamics, often…
Certificates of polynomial nonnegativity can be used to obtain tight dual bounds for polynomial optimization problems. We consider Sums of Nonnegative Circuit (SONC) polynomials certificates, which are well suited for sparse problems since…
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…
Nonnegativity certificates can be used to obtain tight dual bounds for polynomial optimization problems. Hierarchies of certificate-based relaxations ensure convergence to the global optimum, but higher levels of such hierarchies can become…
By computing Lyapunov functions of a certain, convenient structure, Lyapunov-based methods guarantee stability properties of the system or, when performing synthesis, of the relevant closed-loop or error dynamics. In doing so, they provide…
Various key problems from theoretical computer science can be expressed as polynomial optimization problems over the boolean hypercube. One particularly successful way to prove complexity bounds for these types of problems are based on sums…
While there has been increasing interest in using neural networks to compute Lyapunov functions, verifying that these functions satisfy the Lyapunov conditions and certifying stability regions remain challenging due to the curse of…
Sum of Squares programming has been used extensively over the past decade for the stability analysis of nonlinear systems but several questions remain unanswered. In this paper, we show that exponential stability of a polynomial vector…
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…
Finding Lyapunov functions to certify the stability of control systems has been an important topic for verifying safety-critical systems. Most existing methods on finding Lyapunov functions require access to the dynamics of the system.…
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…
This paper proposes a method for certifying the local asymptotic stability of a given nonlinear Ordinary Differential Equation (ODE) by using Sum-of-Squares (SOS) programming to search for a partially quadratic Lyapunov Function (LF). The…