1 Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics Aaron D. Ames, Kevin Galloway, J. W. Grizzle, and Koushil Sreenath

Source URL: web.eecs.umich.edu

• Mathematical analysis
• Mathematics
• Dynamical systems
• Control theory
• Lyapunov stability
• Stability theory
• Lyapunov equation
• Inverse trigonometric functions
• Vector field
• Z-transform
• Bessel function

Discrete-time Control Design with Positive Semi-Denite Lyapunov Functions J. W. Grizzle and Jun-Mo Kang Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI,

Source URL: web.eecs.umich.edu

• Stability theory
• Control theory
• Dynamical systems
• Nonlinear control
• Lyapunov function
• Lyapunov stability
• State-space representation
• Lyapunov equation
• Backstepping

Energy Shaping of Hybrid Systems via Control Lyapunov Functions Ryan W. Sinnet and Aaron D. Ames1 Abstract— This paper presents a method for adding robustness to periodic orbits in hybrid dynamical systems by shaping t

Source URL: www.bipedalrobotics.com

• Continuous function
• Systems theory
• Xi
• Mathematics
• Nonlinear control
• Mathematical analysis
• Stability theory
• Lyapunov stability

Control Barrier Function based Quadratic Programs with Application to Bipedal Robotic Walking Shao-Chen Hsu1 , Xiangru Xu2 , Aaron D. Ames1 Abstract— This paper presents a methodology for the development of control bar

Source URL: www.bipedalrobotics.com

• Mathematics
• Nonlinear control
• Stability theory
• Backstepping
• Lyapunov function
• Continuous function
• State space
• Logarithm
• Control theory
• Systems theory
• Cybernetics

Learning Control Lyapunov Function to Ensure Stability of Dynamical System-based Robot Reaching Motions

Source URL: lasa.epfl.ch

JOINT SPECTRAL RADIUS AND PATH-COMPLETE GRAPH LYAPUNOV FUNCTIONS∗ ¨ JUNGERS, AMIR ALI AHMADI, RAPHAEL PABLO A. PARRILO, AND MARDAVIJ ROOZBEHANI† Abstract. We introduce the framework of path-complete graph Lyapunov f

Source URL: web.mit.edu

• Theoretical computer science
• Dynamical systems
• Control theory
• Lyapunov stability
• Lyapunov function
• Joint spectral radius
• Semidefinite programming
• Graph labeling
• Graph
• Graph theory
• Mathematics
• Stability theory

Towards Scalable Algorithms with Formal Guarantees for Lyapunov Analysis of Control Systems via Algebraic Optimization (Tutorial paper for the 53rd IEEE Conference on Decision and Control) Amir Ali Ahmadi and Pablo A. Pa

Source URL: www.princeton.edu

• Stability theory
• Systems theory
• Real algebraic geometry
• Applied mathematics
• Dynamical systems
• Lyapunov function
• Sum-of-squares optimization
• Semidefinite programming
• Lyapunov stability
• Mathematics
• Mathematical optimization
• Operations research

Stability of Nonlinear Systems By Guanrong Chen Department of Electronic Engineering City University of Hong Kong

Source URL: www.ee.cityu.edu.hk

• Mathematical analysis
• Mathematics
• Lyapunov stability
• Lyapunov function
• Nonlinear control
• Orbital stability
• Floquet theory
• Lyapunov equation
• Control theory
• Dynamical systems
• Stability theory
• Systems theory

Control of Nonlinear Systems with Full State Constraint Using a Barrier Lyapunov Function

Source URL: www1.i2r.a-star.edu.sg

• Nonlinear control
• Systems science
• Stability theory
• Mathematical optimization
• Operations research
• Backstepping
• Optimal control
• Lyapunov function
• State space
• Systems theory
• Control theory
• Cybernetics

Barrier Lyapunov Functions for the control of output-constrained nonlinear systems

Source URL: www1.i2r.a-star.edu.sg

• Systems theory
• Cybernetics
• Stability theory
• Backstepping
• Nonlinear control
• Quadrat
• Z1
• Z2
• Lyapunov function
• History of computing hardware
• Control theory
• Mechanical computers