228 citations · 509 across the 39 of their papers we have counts for
9 papers · 1 filter
Generalization of the multiplicative and additive compounds of square matrices and contraction in the Hausdorff dimension
Chengshuai Wu, Raz Pines, Michael Margaliot +1
The multiplicative and additive compounds of a matrix play an important role in geometry, multi-linear algebra, the asymptotic analysis of nonlinear dynamical systems, and…
Regret Bounds for Adaptive Nonlinear Control
Nicholas M. Boffi, Stephen Tu, Jean-Jacques E. Slotine
We study the problem of adaptively controlling a known discrete-time nonlinear system subject to unmodeled disturbances. We prove the first finite-time regret bounds for adaptive n…
Sliding on Manifolds: Geometric Attitude Control with Quaternions
Brett T. Lopez, Jean-Jacques E. Slotine
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sli…
Neural Stochastic Contraction Metrics for Learning-based Control and Estimation
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques E. Slotine
We present Neural Stochastic Contraction Metrics (NSCM), a new design framework for provably-stable robust control and estimation for a class of stochastic nonlinear systems. It us…
Learning Stability Certificates from Data
Nicholas M. Boffi, Stephen Tu, Nikolai Matni +2
Many existing tools in nonlinear control theory for establishing stability or safety of a dynamical system can be distilled to the construction of a certificate function that guara…
An Ode to an ODE
Krzysztof Choromanski, Jared Quincy Davis, Valerii Likhosherstov +6
We present a new paradigm for Neural ODE algorithms, called ODEtoODE, where time-dependent parameters of the main flow evolve according to a matrix flow on the orthogonal group O(d…