This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and safety constraints. We formulate novel robust (worst-case) Lyapunov function (CLF) barrier (CBF) constraints that take into account effect of case. show formulation leads to a second-order cone program (SOCP), which enables efficient stable synthes...

In this paper, a novel approach for finite-time stabilization of uncertain affine systems is proposed. In the proposed approach, a fast terminal sliding mode (FTSM) controller is designed, based on the input-output feedback linearization of the nonlinear system with considering its internal dynamics. One of the main advantages of the proposed approach is that only the outputs and external state...

This paper proposes an adaptive approximation-based controller for uncertain strict-feedback nonlinear systems with unknown dead-zone nonlinearity. Dead-zone constraint is represented as a combination of a linear system with a disturbance-like term. This work invokes neural networks (NNs) as a linear-in-parameter approximator to model uncertain nonlinear functions that appear in virtual and act...

This work presents a novel motion planning framework, rooted in nonlinear programming theory, that treats uncertain fully and underactuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as system parameters, initial conditions, sensor and actuator noise, and external forcing. Treatment of uncertainty i...

Uncertain differential game investigates interactive decision making of players over time and the system dynamics can be described by an uncertain differential equation. This paper goes further to study the two players zero-sum uncertain differential game. In order to guarantee the saddle-point Nash equilibrium, a Max-Min theorem is provided. Furthermore, when the system dynamics is described b...