4 papers
Small-Gain Theorem for Safety Verification under High-Relative-Degree Constraints
Ziliang Lyu, Xiangru Xu, Yiguang Hong
This paper develops a small-gain technique for the safety analysis and verification of interconnected systems with high-relative-degree safety constraints. In this technique, input…
Finding Matrix Sequences with a High Asymptotic Growth Rate for Linear Constrained Switching Systems
Yuhao Zhang, Xiangru Xu
Linear constrained switching systems are linear switched systems whose switching sequences are constrained by a deterministic finite automaton. This work investigates how to genera…
Successive Convexification: A Superlinearly Convergent Algorithm for Non-convex Optimal Control Problems
Yuanqi Mao, Michael Szmuk, Xiangru Xu +1
This paper presents the SCvx algorithm, a successive convexification algorithm designed to solve non-convex constrained optimal control problems with global convergence and superli…
Observer-Based Controllers for Incrementally Quadratic Nonlinear Systems with Disturbances
Xiangru Xu, Behcet Acikmese, Martin J. Corless
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based sta…