相关论文: A Test-Function Approach to Incremental Stability

Developing stable controllers for large-scale networked dynamical systems is crucial but has long been challenging due to two key obstacles: certifiability and scalability. In this paper, we present a general framework to solve these…

In this paper, we propose a new robustness notion that is applicable for certifying systems' safety with respect to external disturbance signals. The proposed input-to-state safety (ISSf) notion allows us to certify systems' safety in the…

This paper proposes a new regularization technique for reinforcement learning (RL) towards making policy and value functions smooth and stable. RL is known for the instability of the learning process and the sensitivity of the acquired…

In systems where the ability to actuate is a scarce resource, e.g., spacecrafts, it is desirable to only apply a given controller in an intermittent manner--with periods where the controller is on and periods where it is off. Motivated by…

Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…

Reinforcement learning (RL) is an area of significant research interest, and safe RL in particular is attracting attention due to its ability to handle safety-driven constraints that are crucial for real-world applications of RL algorithms.…

Reinforcement learning is showing great potentials in robotics applications, including autonomous driving, robot manipulation and locomotion. However, with complex uncertainties in the real-world environment, it is difficult to guarantee…

Transient stability of power systems is becoming increasingly important because of the growing integration of renewable resources. These resources lead to a reduction in mechanical inertia but also provide increased flexibility in frequency…

Input-to-state stability (ISS) and $\mathcal{L}_2$-gain are well-known robust stability properties that continue to find wide application in the analysis and control of nonlinear dynamical systems and their interconnections. We investigate…

Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a…

We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…

Despite recent successes in Reinforcement Learning, value-based methods often suffer from high variance hindering performance. In this paper, we illustrate this in a continuous control setting where state of the art methods perform poorly…

Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, some of which may be unsafe. Consequently, its application to…

We prove that input-to-state stability (ISS) of nonlinear systems over Banach spaces is equivalent to existence of a coercive Lipschitz continuous ISS Lyapunov function for this system. For linear infinite-dimensional systems, we show that…

This paper demonstrates input-to-state stability (ISS) of the SIR model of infectious diseases with respect to the disease-free equilibrium and the endemic equilibrium. Lyapunov functions are constructed to verify that both equilibria are…

Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…

In a pedagogical but exhaustive manner, this survey reviews the main results on input-to-state stability (ISS) for infinite-dimensional systems. This property allows estimating the impact of inputs and initial conditions on both the…

This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…

The success of Deepseek-R1 has drawn the LLM community's attention to reinforcement learning (RL) methods like GRPO. However, such rule-based 0/1 outcome reward methods lack the capability to regulate the intermediate reasoning processes…

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…