5 papers · 1 filter
Construction of Control Lyapunov-Barrier Functions from CLF-CBF Pairs
Bo Wang, Miroslav Krstic
This paper studies the construction of control Lyapunov-barrier functions (CLBFs) from a given control Lyapunov function (CLF) and control barrier function (CBF) . We consid…
Nonholonomic directional pursuit and evasion: Global feedbacks
Bo Wang, Miroslav Krstic
In a recent paper by the second coauthor, directional pursuit-evasion for strictly forward-moving nonholonomic vehicles was solved "half-globally", namely under favorable initial l…
Feedback Linearization of Hyperbolic PDEs with Volterra Nonlinearities
Miroslav Krstic
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the st…
Contractor-Expander and Universal Inverse Optimal Positive Nonlinear Control
Miroslav Krstic
For general control-affine nonlinear systems in the positive orthant, and with positive controls, we show how strict CLFs can be utilized for inverse optimal stabilization. Convent…
Asymmetry Demystified: Strict CLFs and Feedbacks for Predator-Prey Interconnections
Miroslav Krstic
The difficulty with control of population dynamics, besides the states being positive and the control having to also be positive, is the extreme difference in the dynamics near ext…