no code implementations • 1 Sep 2023 • Reza Lavaei, Leila J. Bridgeman
This paper provides a method to analyze the small-signal L2 gain of control-affine nonlinear systems on compact sets via iterative semi-definite programs.
no code implementations • 5 Mar 2022 • Reza Lavaei, Leila Bridgeman
Since the resulting CPA Lyapunov-like functions are also Lipschitz control (or barrier) Lyapunov functions, they can be used in online quadratic programming to find minimum-norm control inputs.
no code implementations • 28 Feb 2022 • Reza Lavaei, Leila Bridgeman
This paper presents an efficient, offline method to simultaneously synthesize controllers and seek closed-loop Lyapunov functions for constrained piecewise affine systems on triangulated subsets of the admissible states.
no code implementations • 1 Dec 2021 • Reza Lavaei, Leila Bridgeman
For control-affine systems, by choosing a continuous piecewise affine (CPA) controller structure, the non-convex optimization is formulated as iterative semi-definite programming (SDP), which can be solved efficiently using available software.
