7 papers
Linear Stability Analysis of an INDI Pitch-Rate Controller under Model Mismatch for a Tilt-Rotor VTOL UAV
Lorenzo Schenk, Guillaume Ducard, Christopher Onder
Incremental Nonlinear Dynamic Inversion (INDI) is attractive for unmanned aerial vehicle (UAV) flight control because it reduces dependence on a full aerodynamic model while retain…
Implicit Predecessor-Based Region of Attraction Estimation and Robust Invariance Analysis for a Two-Wheeled Inverted Pendulum
Lorenzo Fici, Guillaume Ducard
Estimating the region of attraction (RoA) of nonlinear systems is fundamental for assessing closed-loop stability and ensuring safe operation. While Lyapunov-based approaches provi…
SOS-based Stability Verification for Saturated INDI Control of Hybrid-VTOL Aircraft Pitch Rate Dynamics
Dalim Wahby, Lorenzo Schenk, Guillaume Ducard
Incremental nonlinear dynamic inversion (INDI) is a prominent flight-control strategy valued for its robust disturbance rejection; however, its formal stability verification has tr…
Region of Attraction Estimation for Linear Quadratic Regulator, Linear and Robust Model Predictive Control on a Two-Wheeled Inverted Pendulum
Lorenzo Fici, Dalim Wahby, Alvaro Detailleur +2
Nonlinear underactuated systems such as two-wheeled inverted pendulums (TWIPs) exhibit a limited region of attraction (RoA), which defines the set of initial conditions from which…
Contributions to Semialgebraic-Set-Based Stability Verification of Dynamical Systems with Neural-Network-Based Controllers
Alvaro Detailleur, Dalim Wahby, Guillaume Ducard +1
Neural-network-based controllers (NNCs) can represent complex, highly nonlinear control laws, but verifying the closed-loop stability of dynamical systems using them remains challe…
Synthesis and SOS-based Stability Verification of a Neural-Network-Based Controller for a Two-wheeled Inverted Pendulum
Alvaro Detailleur, Dalim Wahby, Guillaume Ducard +1
This work newly establishes the feasibility and practical value of a sum of squares (SOS)-based stability verification procedure for applied control problems utilizing neural-netwo…