相关论文: Robust Stability Analysis of Positive Lure System …
The robustness of the stability properties of dynamical systems in the presence of unknown/adversarial perturbations to system parameters is a desirable property. In this paper, we present methods to efficiently compute and improve the…
This paper proposes a data-driven approach to design a feedforward Neural Network (NN) controller with a stability guarantee for plants with unknown dynamics. We first introduce data-driven representations of stability conditions for Neural…
Recurrent Neural networks (RNN) have shown promising potential for learning dynamics of sequential data. However, artificial neural networks are known to exhibit poor robustness in presence of input noise, where the sequential architecture…
In this paper we propose a robust Model Predictive Control where a Gated Recurrent Unit network model is used to learn the input-output dynamic of the system under control. Robust satisfaction of input and output constraints and recursive…
The problem of stabilization of a system of coupled PDEs of the forth-order by means of boundary control is investigated. The considered setup arises from the classical Euler-Bernoulli beam model, and constitutes a generalization of…
Absolute stability is a technique for analyzing the stability of Lur'e systems, which arise in diverse applications, such as oscillators with nonlinear damping or nonlinear stiffness. A special class of Lur'e systems consists of…
Deep Reinforcement Learning (DRL) has gained prominence as an effective approach for control systems. However, its practical deployment is impeded by state perturbations that can severely impact system performance. Addressing this critical…
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
Boundary feedback stabilisation of linear port-Hamiltonian systems on an interval is considered. Generation and stability results already known for linear feedback are extended to nonlinear dissipative feedback, both to static feedback…
This work presents several improvements to the closed-loop stability verification framework using semialgebraic sets and convex semidefinite programming to examine neural-network-based control systems regulating nonlinear dynamical systems.…
We address the problem of verifying closed-loop contraction in nonlinear control systems whose controller and contraction metric are both parameterized by neural networks. By leveraging interval analysis and interval bound propagation, we…
This paper delves into designing stabilizing feedback control gains for continuous linear systems with unknown state matrix, in which the control is subject to a general structural constraint. We bring forth the ideas from reinforcement…
Stability of the zero solution plays an important role in the investigation of positive systems. In this note, we revisit the $\mu$-stability of positive nonlinear systems with unbounded time-varying delays. The system is modelled by…
This note studies the exponential convergence of input-output signals of discrete-time nonlinear systems composed of a feedback interconnection of a linear time-invariant system and a nonlinear uncertainty. Both the open-loop subsystems are…
This paper addresses the problem of identifying contractive Lur'e-type systems. Specifically, it proposes an identification framework that integrates linear prior knowledge with a kernel representation of the nonlinear feedback while…
This paper considers the problem of robust stability for a class of uncertain quantum systems subject to unknown perturbations in the system Hamiltonian. Some general stability results are given for different classes of perturbations to the…
Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinearities and unstructured disturbances, while RL-based methods…
In this paper, we study the positivity and (uniform) exponential stability of a large class of perturbed semigroups. Our approach is essentially based on the feedback theory of infinite-dimensional linear systems. The obtained results are…
This work deals with the stability analysis of nonlinear sampled-data systems under nonuniform sampling. It establishes novel relationships between the stability property of the exact discrete-time model for a given sequence of (aperiodic)…