相关论文: Funnel Synthesis via LMI Copositivity Conditions f…
Generative models based on dynamical equations such as flows and diffusions offer exceptional sample quality, but require computationally expensive numerical integration during inference. The advent of consistency models has enabled…
In this paper, we study an affine connection approach to realizing nonholonomic mechanical systems mediated by viscous friction forces with large coefficients, viewed as a singular perturbation of the nonholonomic system. We show that the…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…
A popular technique used to obtain linear representations of nonlinear systems is the so-called Koopman approach, where the nonlinear dynamics are lifted to a (possibly infinite dimensional) linear space through nonlinear functions called…
Recent advances in learning for control allow to synthesize vehicle controllers from learned system dynamics and maintain robust stability guarantees. However, no approach is well-suited for training linear time-invariant (LTI) controllers…
Being a powerful tool for linear time-invariant (LTI) systems, system response analysis can also be applied to the so-called linear space-invariant (LSI) but time-varying systems, which is a dual of the conventional LTI problems. In this…
Stability and stabilization analysis of fractional-order linear time-invariant (FO-LTI) systems with different derivative orders is studied in this paper. First, by using an appropriate linear matrix function, a single-order equivalent…
Conformal prediction provides a distribution-free framework for uncertainty quantification. This study explores the application of conformal prediction in scenarios where covariates are missing, which introduces significant challenges for…
We investigate the problem of synthesizing switching controllers for stabilizing continuous-time plants. First, we introduce a class of control Lyapunov functions (CLFs) for switched systems along with a switching strategy that yields a…
Linear time invariant (LTI) systems are widely used for modeling system dynamics in science and engineering problems. Harmonic oscillation of LTI systems are widely used for modeling and analyses of periodic physical phenomenon. This study…
In this paper, we propose an approach for computing invariant sets of discrete-time nonlinear systems by lifting the nonlinear dynamics into a higher dimensional linear model. In particular, we focus on the \emph{maximal admissible…
We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and…
Infinitesimal contraction analysis provides exponential convergence rates between arbitrary pairs of trajectories of a system by studying the system's linearization. An essentially equivalent viewpoint arises through stability analysis of a…
In many computational tasks and dynamical systems, asynchrony and randomization are naturally present and have been considered as ways to increase the speed and reduce the cost of computation while compromising the accuracy and convergence…
We present a scalable set-valued safety-preserving controller for constrained continuous-time linear time-invariant (LTI) systems subject to additive, unknown but bounded disturbance or uncertainty. The approach relies upon a conservative…
Video Frame Interpolation synthesizes non-existent images between adjacent frames, with the aim of providing a smooth and consistent visual experience. Two approaches for solving this challenging task are optical flow based and kernel-based…
In this paper, we develop centralized and decentralized techniques for analyzing and synthesizing networked systems comprised of interconnected sets of non-linear subsystems - only using the subsystem dissipativity properties. In…
The Sequential Fully Implicit (SFI) method was proposed to simulate coupled immiscible multiphase fluid flow in porous media. Later, it was extended to the black-oil model, whereby the gas component is allowed to dissolve in the oil phase.…
Dimensional synthesis of planar four-bar mechanisms is a challenging inverse problem in kinematics, requiring the determination of mechanism dimensions from desired motion specifications. We propose a data-driven framework that bypasses…