— In this paper, we propose a nonlinear control design for solving the problem of stabilization with guaranteed safety. The design is based on the merging of a Control Lyapunov Function and a Control Barrier Function. The proposed control method allows us to combine the design of a stabilizer based on CLF and the design of safety control based on CBF. The… (More)
— For a class of dissipative nonlinear systems, it is shown that an associated dissipation inequality determines an iISS gain. The result can be used to show the convergence of the state trajectory whenever the input signal has bounded energy where the energy function is related to the dissipation inequality.
In this paper we derive a compact mathematical formulation describing the dynamics of chemical reaction networks that are complex-balanced and are governed by mass action kinetics. The formulation is based on the graph of (substrate and product) complexes and the stoichiometric information of these complexes, and crucially uses a balanced weighted Laplacian… (More)
It is well known that if the linear time invariant system ˙ x = Ax + Bu, y = Cx is passive the associated incremental system ˙ ˜ x = A˜x + B˜u, ˜ y = C˜x, with˜(·) = (·) − (·) ⋆ , u ⋆ , y ⋆ the constant input and output associated to an equilibrium state x ⋆ , is also passive. In this paper, we identify a class of nonlinear passive systems of the form ˙ x =… (More)
In this paper we investigate a passivity approach to collective coordination and synchronization problems in the presence of quantized measurements and show that coordination tasks can be achieved in a practical sense for a large class of passive systems.
Motivated by recent progress on the interplay between graph theory , dynamics, and systems theory, we revisit the analysis of chemical reaction networks described by mass action kinetics. For reaction networks possessing a thermodynamic equilibrium we derive a compact formulation exhibiting at the same time the structure of the complex graph and the… (More)
— The role of internal model principle is investigated in this paper in the context of collective synchronization and formation control problems. In the collective synchronization problem for nonlinear systems, we propose distributed control laws for passive systems which synchronize to the solution of an incrementally passive exosystem. This generalizes… (More)
In this paper we investigate the dissipativity property of a certain class of Duhem hysteresis operator, which has clockwise (CW) input-output (I/O) behavior. In particular, we provide sufficient conditions on the Duhem operator such that it is CW and propose an explicit construction of the corresponding function satisfying dissipation inequality of CW… (More)