相关论文: Lyapunov-Based $\mathcal{L}_2$-Stable PI-Like Cont…

We show that the existence of a strictly compatible pair of control Lyapunov and control barrier functions is equivalent to the existence of a single smooth Lyapunov function that certifies both asymptotic stability and safety. This…

The need for rapid and reliable robot deployment is on the rise. Imitation Learning (IL) has become popular for producing motion planning policies from a set of demonstrations. However, many methods in IL are not guaranteed to produce…

This paper introduces the concept of parameter-dependent (PD) control Lyapunov functions (CLFs) for gain-scheduled stabilization of nonlinear parameter-varying (NPV) systems. It shows that given a PD-CLF, a min-norm control law can be…

This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed…

Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…

While ensuring stability for linear systems is well understood, it remains a major challenge for nonlinear systems. A general approach in such cases is to compute a combination of a Lyapunov function and an associated control policy.…

The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…

This paper presents a novel Lyapunov-based Adaptive Transformer (LyAT) controller for stochastic nonlinear systems. While transformers have shown promise in various control applications due to sequential modeling through self-attention…

The concept of matrix D-stability plays an important role in applications, ranging from economic and biological system models to decentralized control. Here we provide necessary and sufficient Lyapunov-type conditions for the robust (block)…

We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing the need for pre-defined footstep timings. Using a concept…

In the design and operation of complex dynamical systems, it is essential to ensure that all state trajectories of the dynamical system converge to a desired equilibrium within a guaranteed stability region. Yet, for many practical systems…

Machine learning techniques have demonstrated their effectiveness in achieving autonomy and optimality for nonlinear and high-dimensional dynamical systems. However, traditional black-box machine learning methods often lack formal stability…

In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The class is characterised via some easily verifiable conditions…

In this work, we propose a methodology for the expression of necessary and sufficient Lyapunov-like conditions for the existence of stabilizing feedback laws. The methodology is an extension of the well-known Control Lyapunov Function (CLF)…

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 this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…

This paper studies the use of vector Lyapunov functions for the design of globally stabilizing feedback laws for nonlinear systems. Recent results on vector Lyapunov functions are utilized. The main result of the paper shows that the…

Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…

This article presents tools for the design of control laws inducing robust controlled forward invariance of a set for hybrid dynamical systems modeled as hybrid inclusions. A set has the robust controlled forward invariance property via a…

This paper provides necessary conditions and sufficient conditions for the (global) Input-to-State Stability property of simple uncertain vehicular-traffic network models under the effect of a PI-regulator. Local stability properties for…