18,554 research outputs found
Analysis of unconstrained nonlinear MPC schemes with time varying control horizon
For discrete time nonlinear systems satisfying an exponential or finite time
controllability assumption, we present an analytical formula for a
suboptimality estimate for model predictive control schemes without stabilizing
terminal constraints. Based on our formula, we perform a detailed analysis of
the impact of the optimization horizon and the possibly time varying control
horizon on stability and performance of the closed loop
Further results on exponential estimates of markovian jump systems with mode-dependent time-varying delays
This technical note studies the problem of exponential estimates for Markovian jump systems with mode-dependent interval time-varying delays. A novel LyapunovKrasovskii functional (LKF) is constructed with the idea of delay partitioning, and a less conservative exponential estimate criterion is obtained based on the new LKF. Illustrative examples are provided to show the effectiveness of the proposed results. © 2010 IEEE.published_or_final_versio
Constructive necessary and sufficient condition for the stability of quasi-periodic linear impulsive systems
International audienceThe paper provides a computation-oriented necessary and sufficient condition for the global exponential stability of linear impulsive systems, whose impulsions are assumed to occur quasi-periodically. Based on the set-theoretic conditions for robust stability of uncertain linear systems, the existence of polyhedral Lyapunov functions is proved to be necessary and sufficient for global exponential stability of quasi-periodic linear impulsive systems. A constructive method is developed for testing the stability of the system and for computing set-induced polyhedral Lyapunov functions. The method leads to an algorithm whose complexity is similar to the standard algorithm related to discrete-time parametric uncertain systems with the state matrix belonging to a convex polytopic set
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems
Many modern nonlinear control methods aim to endow systems with guaranteed
properties, such as stability or safety, and have been successfully applied to
the domain of robotics. However, model uncertainty remains a persistent
challenge, weakening theoretical guarantees and causing implementation failures
on physical systems. This paper develops a machine learning framework centered
around Control Lyapunov Functions (CLFs) to adapt to parametric uncertainty and
unmodeled dynamics in general robotic systems. Our proposed method proceeds by
iteratively updating estimates of Lyapunov function derivatives and improving
controllers, ultimately yielding a stabilizing quadratic program model-based
controller. We validate our approach on a planar Segway simulation,
demonstrating substantial performance improvements by iteratively refining on a
base model-free controller
Adaptive transient solution of nonuniform multiconductor transmission lines using wavelets
Abstract—This paper presents a highly adaptive algorithm for the transient simulation of nonuniform interconnects loaded with arbitrary nonlinear and dynamic terminations. The discretization of the governing equations is obtained through a weak formula-tion using biorthogonal wavelet bases as trial and test functions. It is shown how the multiresolution properties of wavelets lead to very sparse approximations of the voltages and currents in typical transient analyzes. A simple yet effective time–space adaptive al-gorithm capable of selecting the minimal number of unknowns at each time iteration is described. Numerical results show the high degree of adaptivity of the proposed scheme. Index Terms—Electromagnetic (EM) transient analysis, multi-conductor transmission lines (TLs), wavelet transforms. I
- …