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eess.SY2026
Quantifying Trade-Offs Between Stability and Goal-Obfuscation
Yixuan Wang, Dan Guralnik, Warren Dixon
Safety-critical autonomy in adversarial settings demands more than Lyapunov stability of tracking error signals. An agent executing a goal-directed trajectory is intrinsically legi…
eess.SY2025
Lyapunov-Based Kolmogorov-Arnold Network (KAN) Adaptive Control
Xuehui Shen, Wenqian Xue, Yixuan Wang +1
Recent advancements in Lyapunov-based Deep Neural Networks (Lb-DNNs) have demonstrated improved performance over shallow NNs and traditional adaptive control for nonlinear systems…
eess.SY2025
Lyapunov-based Adaptive Transformer (LyAT) for Control of Stochastic Nonlinear Systems
Saiedeh Akbari, Xuehui Shen, Wenqian Xue +2
This paper presents a novel Lyapunov-based Adaptive Transformer (LyAT) controller for stochastic nonlinear systems. While transformers have shown promise in various control applica…