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Found 8 papers, 0 papers with code
A Tunable Universal Formula for Safety-Critical Control
Finally, we demonstrate the efficacy of our method through a collision avoidance example, investigating the essential properties including safety, robustness, and smoothness under various tunable scaling terms.
Unifying Controller Design for Stabilizing Nonlinear Systems with Norm-Bounded Control Inputs
This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint.
Convex Equilibrium-Free Stability and Performance Analysis of Discrete-Time Nonlinear Systems
Namely, the universal shifted concept, which considers stability and performance w. r. t.
Equilibrium-Independent Control of Continuous-Time Nonlinear Systems via the LPV Framework -- Extended Version
Additionally, we compare the proposed method to a standard LPV control design, demonstrating the improved stability and performance guarantees of the new approach.
Moving Obstacle Collision Avoidance via Chance-Constrained MPC with CBF
Model predictive control (MPC) with control barrier functions (CBF) is a promising solution to address the moving obstacle collision avoidance (MOCA) problem.
Decoupling multivariate functions using a nonparametric filtered tensor decomposition
Multivariate functions emerge naturally in a wide variety of data-driven models.
Decoupling multivariate functions using a non-parametric Filtered CPD approach
Usually a generic basis function expansion is used, e. g. a polynomial basis, and the parameters of the function are tuned given the data.
Nonlinear Tracking and Rejection using Linear Parameter-Varying Control
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.
