1,978 research outputs found
Neural Lyapunov Control
We propose new methods for learning control policies and neural network
Lyapunov functions for nonlinear control problems, with provable guarantee of
stability. The framework consists of a learner that attempts to find the
control and Lyapunov functions, and a falsifier that finds counterexamples to
quickly guide the learner towards solutions. The procedure terminates when no
counterexample is found by the falsifier, in which case the controlled
nonlinear system is provably stable. The approach significantly simplifies the
process of Lyapunov control design, provides end-to-end correctness guarantee,
and can obtain much larger regions of attraction than existing methods such as
LQR and SOS/SDP. We show experiments on how the new methods obtain high-quality
solutions for challenging control problems.Comment: NeurIPS 201
Practical tracking control for stochastic nonlinear systems with polynomial function growth conditions
This paper mainly focuses on an output feedback practical tracking controller design for a class of stochastic nonlinear systems with polynomial function growth conditions. Mostly, there are some studies on an output feedback tracking control problem for general nonlinear systems with polynomial function growth conditions in existing achievements. Moreover, we extend it to stochastic nonlinear systems and construct an output feedback practical tracking controller based on dynamic and static phase combined, ensuring that all the states of the stochastic nonlinear system are bounded and the system tracking error can be made arbitrarily small after some large enough time. Finally, a simulation example is provided to illustrate the efficiency of the theoretical results
Underactuated Source Seeking by Surge Force Tuning: Theory and Boat Experiments
We extend source seeking algorithms, in the absence of position and velocity
measurements, and with tuning of the surge input, from velocity-actuated
(unicycle) kinematic models to force-actuated generic Euler-Lagrange dynamic
underactuated models. In the design and analysis, we employ a symmetric product
approximation, averaging, passivity, and partial-state stability theory. The
proposed control law requires only real-time measurement of the source signal
at the current position of the vehicle and ensures semi-global practical
uniform asymptotic stability (SPUAS) with respect to the linear motion
coordinates for the closed-loop system. The performance of our source seeker
with surge force tuning is illustrated with both numerical simulations and
experiments of an underactuated boat
Sensitivity analysis of oscillator models in the space of phase-response curves: Oscillators as open systems
Oscillator models are central to the study of system properties such as
entrainment or synchronization. Due to their nonlinear nature, few
system-theoretic tools exist to analyze those models. The paper develops a
sensitivity analysis for phase-response curves, a fundamental one-dimensional
phase reduction of oscillator models. The proposed theoretical and numerical
analysis tools are illustrated on several system-theoretic questions and models
arising in the biology of cellular rhythms
Stability of gain scheduling control for aircraft with highly nonlinear behavior
"The main goal of this work is to study the stability properties of an aircraft with nonlinear behavior, controlled using a gain scheduled approach. An output feedback is proposed which is able to guarantee asymptotical stability of the task-coordinates origin and safety of the operation in the entire flight envelope. The results are derived using theory of hybrid and singular perturbed systems. It is demonstrated that both body velocity and orientation asymptotic tracking can be obtained in spite of nonlinearities and uncertainty. The results are illustrated using numerical simulations in F16 jet.
Self-Evaluation Applied Mathematics 2003-2008 University of Twente
This report contains the self-study for the research assessment of the Department of Applied Mathematics (AM) of the Faculty of Electrical Engineering, Mathematics and Computer Science (EEMCS) at the University of Twente (UT). The report provides the information for the Research Assessment Committee for Applied Mathematics, dealing with mathematical sciences at the three universities of technology in the Netherlands. It describes the state of affairs pertaining to the period 1 January 2003 to 31 December 2008
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