相关论文: Lyapunov-Based $\mathcal{L}_2$-Stable PI-Like Cont…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
In the article$^a$, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equations. The authors established asymptotic stability with the…
The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…
Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
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…
A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…
In this paper, we propose a Lyapunov-based reinforcement learning method for distributed control of nonlinear systems comprising interacting subsystems with guaranteed closed-loop stability. Specifically, we conduct a detailed stability…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
This paper presents L-Learning, a novel data-driven control framework for robotics that integrates Lyapunov stability theory with Lagrangian mechanics to enhance trajectory tracking performance. While traditional control methods often…
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…
In this paper the existence of a quadratic control Lyapunov function for bilinear systems is considered. The existence of a control Lyapunov function ensures the existence of a control law which ensures the global asymptotic stability of…
The objective of this work is to demonstrate the utility of Lyapunov functions in control synthesis for the purpose of maintaining and stabilizing a spacecraft in a circular orbit around the L4 point in the circular restricted three body…
We introduce High-Relative Degree Stochastic Control Lyapunov functions and Barrier Functions as a means to ensure asymptotic stability of the system and incorporate state dependent high relative degree safety constraints on a non-linear…
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the…
In this paper, we apply a Control Lyapunov Function methodology to design two families of cruise controllers for the two-dimensional movement of autonomous vehicles on lane-free roads using the bicycle kinematic model. The control Lyapunov…
This paper addresses the stability problem for discrete-time switched systems under autonomous switching. Each mode of the switched system is modeled as a Linear Parameter Varying (LPV) system, the time-varying parameters can vary…