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Lyapunov Constructions for System Interconnections Arising from Adaptation in Some Optimization Methods
Qixu Wang, Patrick McNamee, Zahra Nili Ahmadabadi +1
Interconnected systems have been widely studied, with a focus on interconnected systems whose subsystems are solely input-to-state stable (ISS) or passive systems. The focus of thi…
Robust Control Barrier Function Design for High Relative Degree Systems: Application to Unknown Moving Obstacle Collision Avoidance
Kwang Hak Kim, Mamadou Diagne, Miroslav Krstić
In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. R…
Extremum Seeking is Stable for Scalar Maps that are Strictly but Not Strongly Convex
Patrick McNamee, Miroslav Krstić, Zahra Nili Ahmadabadi
For a map that is strictly but not strongly convex, model-based gradient extremum seeking has an eigenvalue of zero at the extremum, i.e., it fails at exponential convergence. Inte…