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eess.SY2024
Safety-Critical Control of Discontinuous Systems with Nonsmooth Safe Sets
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortes
This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and inte…
math.OC2024
Stabilization of Nonlinear Systems through Control Barrier Functions
Pol Mestres, Kehan Long, Melvin Leok +2
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lya…
eess.SY2024
Distributionally Robust Policy and Lyapunov-Certificate Learning
Kehan Long, Jorge Cortes, Nikolay Atanasov
This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key chal…