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Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains.
Episodic learning with control lyapunov functions for uncertain robotic systems
A. J. Taylor, V. D. Dorobantu, H. M. Le, Y. Yue, and A. D. Ames · 1903
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Stabilization with relaxed controls
Z. Artstein · 1983
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A ‘universal’ construction of artstein’s theorem on nonlinear stabilization
E. D. Sontag · 1989
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Set invariance in control
F. Blanchini · 1999
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Nonlinear Systems: Analysis, Stability and Control
S. S. Sastry · 1999
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Nonlinear Systems - 3rd Edition
H.K. Khalil · 2002
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Tree-based batch mode reinforcement learning
D. Ernst, P. Geurts, and L. Wehenkel · 2005
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A distribution-free theory of nonparametric regression
L. Györfi, M. Kohler, A. Krzyzak, and H. Walk · 2006
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No-regret reductions for imitation learning and structured prediction
S. Ross, G. J. Gordon, and J. A. Bagnell · 2010
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Learning control in robotics
S. Schaal and C. G. Atkeson · 2010
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Guaranteed safe online learning of a bounded system
C. J. Gillula, J. H .and Tomlin · 2011
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A reduction of imitation learning and structured prediction to no-regret online learning
S. Ross, G. Gordon, and D. Bagnell · 2011
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Guaranteed safe online learning via reachability: tracking a ground target using a quadrotor
J. H. Gillula and C. J. Tomlin · 2012
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Provably safe and robust learning-based model predictive control
A. Aswani, H. Gonzalez, S. S. Sastry, and C. Tomlin · 2013
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Reinforcement learning in robotics: A survey
J. Kober, J. A. Bagnell, and J. Peters · 2013
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Sufficient conditions for the lipschitz continuity of qp-based multi-objective control of humanoid robots
B. Morris, M. J. Powell, and A. D. Ames · 2013
Cited alongside, same era.
Differential equations and dynamical systems , volume 7
L. Perko · 2013
Cited alongside, same era.
Reachability-based safe learning with gaussian processes
A. K. Akametalu, J. F. Fisac, J. H. Gillula, S. Kaynama, M. N. Zeilinger, and C. J. Tomlin · 2014
Cited alongside, same era.
Control barrier function based quadratic programs with application to adaptive cruise control
A. Ames, J. Grizzle, and P. Tabuada · 2014
Cited alongside, same era.
Learning control lyapunov function to ensure stability of dynamical system-based robot reaching motions
S. M Khansari-Zadeh and A. Billard · 2014
Cited alongside, same era.
Safe and robust learning control with gaussian processes
A lyapunov-based approach to safe reinforcement learning
Y. Chow, O. Nachum, E. Duenez-Guzman, and M. Ghavamzadeh · 2018
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A general safety framework for learning-based control in uncertain robotic systems
J. F. Fisac, A. K. Akametalu, M. N. Zeilinger, S. Kaynama, J. Gillula, and C. J. Tomlin · 2018
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Towards a framework for realizable safety critical control through active set invariance
T. Gurriet, A. Singletary, J. Reher, L. Ciarletta, E. Feron, and A. Ames · 2018
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Robust control barrier functions for constrained stabilization of nonlinear systems
M. Jankovic · 2018
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Input-to-state safety with control barrier functions
S. Kolathaya and A. D. Ames · 2018
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Learning-based model predictive control for safe exploration
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F. Berkenkamp and A. P. Schoellig · 2015
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Bayesian nonparametric adaptive control using gaussian processes
G. Chowdhary, H. A. Kingravi, J. P. How, and P. A. Vela · 2015
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Safe exploration for optimization with gaussian processes
Y. Sui, A. Gotovos, J. Burdick, and A. Krause · 2015
Cited alongside, same era.
Robustness of control barrier functions for safety critical control
X. Xu, P. Tabuada, J. W. Grizzle, and A. D. Ames · 2015
Cited alongside, same era.
Safe learning of regions of attraction for uncertain, nonlinear systems with gaussian processes
F. Berkenkamp, R. Moriconi, A. P. Schoellig, and A. Krause · 2016
Cited alongside, same era.
Safe controller optimization for quadrotors with gaussian processes
F. Berkenkamp, A. P. Schoellig, and A. Krause · 2016
Cited alongside, same era.
Smooth imitation learning for online sequence prediction
H. M. Le, A. Kang, Y. Yue, and P. Carr · 2016
Cited alongside, same era.
T. Koller, F. Berkenkamp, M. Turchetta, and A. Krause · 2018
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The lyapunov neural network: Adaptive stability certification for safe learning of dynamic systems
S. M. Richards, F. Berkenkamp, and A. Krause · 2018
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Safe learning of quadrotor dynamics using barrier certificates
L. Wang, E. A. Theodorou, and M. Egerstedt · 2018
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Control barrier functions: Theory and applications
A. D. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath, and P. Tabuada · 2019
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End-to-end safe reinforcement learning through barrier functions for safety-critical continuous control tasks
R. Cheng, G. Orosz, R. M. Murray, and J. W. Burdick · 2019
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Bayesian learning-based adaptive control for safety critical systems
D. D. Fan, J. Nguyen, R. Thakker, N. Alatur, A.-a. Agha-mohammadi, and E. A. Theodorou · 2019
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Safe interactive model-based learning
M. Gallieri, S. S. M. Salehian, N. E. Toklu, A. Quaglino, J. Masci, J. Koutník, and F. Gomez · 2019
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Learning barrier functions for constrained motion planning with dynamical systems
M. Saveriano and D. Lee · 2019
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Neural lander: Stable drone landing control using learned dynamics
G. Shi, X. Shi, M. O’Connell, R. Yu, K. Azizzadenesheli, A. Anandkumar, Y. Yue, and S. Chung · 2019
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Adaptive safety with control barrier functions
A. J. Taylor and A. D. Ames · 2019
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