Controller for Incremental Input-to-State Practical Stabilization of Partially Unknown systems with Invariance Guarantees
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866917006678163456 |
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| author | Sangeerth, P Sundarsingh, David Smith Dey, Bhabani Shankar Jagtap, Pushpak |
| author_facet | Sangeerth, P Sundarsingh, David Smith Dey, Bhabani Shankar Jagtap, Pushpak |
| contents | Incremental stability is a property of dynamical systems that ensures the convergence of trajectories with respect to each other rather than a fixed equilibrium point or a fixed trajectory. In this paper, we introduce a related stability notion called incremental input-to-state practical stability (δ-ISpS), ensuring safety guarantees. We also present a feedback linearization based control design scheme that renders a partially unknown system incrementally input-to-state practically stable and safe with formal guarantees. To deal with the unknown dynamics, we utilize Gaussian process regression to approximate the model. Finally, we implement the controller synthesized by the proposed scheme on a manipulator example |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_10450 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Controller for Incremental Input-to-State Practical Stabilization of Partially Unknown systems with Invariance Guarantees Sangeerth, P Sundarsingh, David Smith Dey, Bhabani Shankar Jagtap, Pushpak Systems and Control Incremental stability is a property of dynamical systems that ensures the convergence of trajectories with respect to each other rather than a fixed equilibrium point or a fixed trajectory. In this paper, we introduce a related stability notion called incremental input-to-state practical stability (δ-ISpS), ensuring safety guarantees. We also present a feedback linearization based control design scheme that renders a partially unknown system incrementally input-to-state practically stable and safe with formal guarantees. To deal with the unknown dynamics, we utilize Gaussian process regression to approximate the model. Finally, we implement the controller synthesized by the proposed scheme on a manipulator example |
| title | Controller for Incremental Input-to-State Practical Stabilization of Partially Unknown systems with Invariance Guarantees |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.10450 |