相关论文: Synthesizing Control Lyapunov-Value Functions for …

Lyapunov functions play a fundamental role in analyzing the stability and convergence properties of optimization methods. In this paper, we propose a novel and straightforward approach for constructing Lyapunov functions for first-order…

It has been shown that optimizing quadratic costs while stabilizing affine control systems to desired (sets of) states subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control…

Constraint admissible positively invariant (CAPI) sets play a pivotal role in ensuring safety in control and planning applications, such as the recursive feasibility guarantee of explicit reference governor and model predictive control.…

We propose the first generalization of Sontag s universal controller to systems not affine in the control, particularly, to PDEs with boundary actuation. We assume that the system admits a control Lyapunov function (CLF) whose derivative,…

The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlinear (NL) systems via convex methods. By extending results of…

Iterative first-order methods such as gradient descent and its variants are widely used for solving optimization and machine learning problems. There has been recent interest in analytic or numerically efficient methods for computing…

This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…

This paper presents a convex optimization-based framework for synthesizing time-varying controlled invariant funnels and associated feedback control around a given nominal trajectory for nonlinear systems subject to bounded disturbances.…

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…

Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates the uncertainties and disturbances. In this paper, the idea…

Control Barrier Functions (CBFs) allow for efficient synthesis of controllers to maintain desired invariant properties of safety-critical systems. However, the problem of identifying a CBF remains an open question. As such, this paper…

Abstraction and refinement is widely used in software development. Such techniques are valuable since they allow to handle even more complex systems. One key point is the ability to decompose a large system into subsystems, analyze those…

We estimate the lock-in domain of the origin of a current control system which is used in common DC/AC inverter designs. The system is a cascade connection of a 4-dimensional linear system (current controller, CC) followed by a…

In this paper, a constrained control approach to variable speed limit (VSL) control for macroscopic partial differential equations (PDE) traffic models is developed. Control Lyapunov function (CLF) theory for ordinary differential equations…

We explicitly construct global strict Lyapunov functions for rapidly time-varying nonlinear control systems. The Lyapunov functions we construct are expressed in terms of oftentimes more readily available Lyapunov functions for the limiting…

Partial observations of continuous time-series dynamics at arbitrary time stamps exist in many disciplines. Fitting this type of data using statistical models with continuous dynamics is not only promising at an intuitive level but also has…

We present a new approach for constructing polytope Lyapunov functions for continuous-time linear switching systems (LSS). This allows us to decide the stability of LSS and to compute the Lyapunov exponent with a good precision in…

This paper focuses on developing a method to obtain an uncertain linear fractional transformation (LFT) system that adequately captures the dynamics of a nonlinear time-invariant system over some desired envelope. First, the nonlinear…

Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…

We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control barrier function (CBF), where the desired equilibrium lies in…