4 papers · 1 filter
Iterative, Small-Signal L2 Stability Analysis of Nonlinear Constrained Systems
Reza Lavaei, Leila J. Bridgeman
This paper provides a method to analyze the small-signal L2 gain of control-affine nonlinear systems on compact sets via iterative semi-definite programs. First, a continuous piece…
Systematic, Lyapunov-Based, Safe and Stabilizing Controller Synthesis for Constrained Nonlinear Systems
Reza Lavaei, Leila Bridgeman
A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers s…
Systematic Stabilization of Constrained Piecewise Affine Systems
Reza Lavaei, Leila Bridgeman
This paper presents an efficient, offline method to simultaneously synthesize controllers and seek closed-loop Lyapunov functions for constrained piecewise affine systems on triang…
Simultaneous Controller and Lyapunov Function Design for Constrained Nonlinear Systems
Reza Lavaei, Leila Bridgeman
This paper presents a method to stabilize state and input constrained nonlinear systems using an offline optimization on variable triangulations of the set of admissible states. Fo…