@book {300, title = {Computation-Aware Algorithmic Design for Cyber-Physical Systems}, series = {Systems \& Control: Foundations \& Applications}, year = {2023}, publisher = {Birkhauser}, organization = {Birkhauser}, author = {M. Prandini and R. G. Sanfelice} } @book {220, title = {Hybrid Feedback Control}, year = {2021}, publisher = {Princeton University Press}, organization = {Princeton University Press}, address = {New Jersey}, author = {R. G. Sanfelice} } @book {65, title = {Hybrid Dynamical Systems: Modeling, Stability, and Robustness}, year = {2012}, publisher = {Princeton University Press}, organization = {Princeton University Press}, address = {New Jersey}, keywords = {hybrid systems}, doi = {http://www.u.arizona.edu/~sricardo/index.php?n=Main.Books}, author = {R. Goebel and R. G. Sanfelice and A. R. Teel} } @mastersthesis {20, title = {Robust Hybrid Control Systems}, year = {2007}, school = {University of California, Santa Barbara}, type = {phd}, abstract = {This thesis deals with systems exhibiting both continuous and discrete dynamics, perhaps due to intrinsic behavior or to the interaction of continuous-time and discrete-time dynamics emerging from its components and/or their interconnection. Such systems are called hybrid systems and permit the modeling of a wide range of engineering systems and scientific processes. In this thesis, hybrid systems are treated as dynamical systems: the interplay between continuous and discrete behavior is captured in a mathematical model given by differential equations/inclusions and difference equations/inclusions, which we simply call hybrid equations. We develop tools for systematic analysis and robust design of hybrid systems, with an emphasis on systems that involve control algorithms, that is, hybrid control systems. To this effect, we identify mild conditions that hybrid equations need to satisfy so that their behavior captures the effect of arbitrarily small perturbations. This leads to novel concepts of generalized solutions that impart a deep understanding not only on the robustness properties of hybrid systems but also on the structural properties of their solutions. In turn, these conditions enable us to generate various tools for hybrid systems that resemble those in the stability theory of classical dynamical systems. These include general versions of Lyapunov and Krasovskii stability theorems, and LaSalle-type invariance principles. Additionally, we establish results on robustness of stability of hybrid control for general nonlinear systems. We also present a novel mathematical framework for numerical simulation of hybrid systems and its asymptotic stability properties. The contributions of this thesis are not limited to the theory of hybrid systems as they have implications in the analysis and design of practically relevant engineering control systems. In this regard, we develop general control strategies for dynamical systems that are applicable, for example, to autonomous vehicles, multi-link pendulums, and juggling systems.}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/20.pdf}, author = {R. G. Sanfelice} } @mastersthesis {2, title = {Novel current control for {AC} motors}, year = {2001}, school = {Universidad Nacional de Mar del Plata}, abstract = {

In this project, we introduce a new current control method to reduce the electromagnetic torque ripple in AC induction motors. Our control strategy features hysteresis switching to accomplish the disturbance rejection task. We compare our results with the methods currently available in the literature both by compuer simulations and experiments. The testbed consists of an 1HP AC induction motor and electronic hardware ADMC401-ADVKIT from Analog Devices where the control algorithm is implemented. Our results show that out control strategy reduces the electromagnetic ripple up to 50\% compared to currently existing methods.

}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/2.pdf}, author = {R. G. Sanfelice} } @inbook {338, title = {Solving Hybrid Model Predictive Control Problems via a Mixed-Integer Approach}, booktitle = { Model Predictive Control}, year = {2025}, pages = {83-109}, publisher = {Springer Cham}, organization = {Springer Cham}, edition = {1}, chapter = {4}, author = {I. Nodozi and R. G. Sanfelice} } @inbook {337, title = {Nonlinear Hybrid Control Systems}, booktitle = {Encyclopedia of Systems and Control Engineering}, year = {2025}, publisher = {Elsevier}, organization = {Elsevier}, author = {R. G. Sanfelice} } @inbook {336, title = {Control of Hybrid Dynamical Systems}, booktitle = {Encyclopedia of Systems and Control Engineering}, year = {2025}, publisher = {Elsevier}, organization = {Elsevier}, author = {R. G. Sanfelice} } @inbook {309, title = {Hybrid Control, Morse Theory and Ivan Kupka}, booktitle = {AIMS on Applied Mathematics}, volume = {12}, year = {2024}, pages = {135-152}, chapter = {6}, author = {R. Montgomery and R. G. Sanfelice} } @inbook {301, title = {Set-Valued Model Predictive Control}, booktitle = {Computation-Aware Algorithmic Design for Cyber-Physical Systems}, year = {2023}, pages = {187-207}, publisher = {Birkhauser}, organization = {Birkhauser}, author = {N. Risso and B. Altin and R. G. Sanfelice and J. Sprinkle} } @inbook {217, title = {Feedback Control of Hybrid Dynamical Systems}, booktitle = {Encyclopedia of Systems and Control}, year = {2020}, publisher = {Springer}, organization = {Springer}, author = {R. G. Sanfelice} } @inbook {216, title = {Hybrid Model Predictive Control}, booktitle = {Encyclopedia of Systems and Control}, year = {2020}, publisher = {Springer}, organization = {Springer}, author = {R. G. Sanfelice} } @inbook {155, title = {Networked Hybrid Dynamical Systems: Models, Specifications, and Tools}, booktitle = {Control Subject to Computational and Communication Constraints: Current Challenges}, series = {NULL}, number = {Lecture Notes in Control and Information Sciences, Volume 475}, year = {2018}, month = {06/2018}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, chapter = {16}, address = {Cham}, isbn = {978-3-319-78449-6}, doi = {https://doi.org/10.1007/978-3-319-78449-6_16}, author = {R. G. Sanfelice} } @inbook {154, title = {Hybrid Model Predictive Control}, booktitle = {Handbook of Model Predictive Control}, series = {NULL}, year = {2018}, month = {09/2018}, pages = {199-220}, publisher = {Birkh{\"a}user }, organization = {Birkh{\"a}user }, edition = {Edition 1}, address = {Basel}, issn = {978-3-319-77489-3}, doi = {10.1007/978-3-319-77489-3}, author = {R. G. Sanfelice} } @inbook {145, title = {Incremental Graphical Asymptotic Stability for Hybrid Dynamical Systems}, booktitle = {Feedback Stabilization of Controlled Dynamical Systems - Lecture Notes in Control and Information Sciences }, series = {NULL}, volume = {473}, year = {2017}, month = {March}, pages = {231-262}, publisher = {Springer}, organization = {Springer}, author = {Y. Li and R. G. Sanfelice} } @inbook {105, title = {Analysis and Design of Cyber-Physical Systems: A Hybrid Control Systems Approach}, booktitle = {Cyber Physical Systems: From Theory to Practice}, year = {2015}, pages = {3-31}, publisher = {CRC Press}, organization = {CRC Press}, keywords = {hybrid systems}, doi = {10.1201/b19290-3}, author = {R. G. Sanfelice} } @inbook {103, title = {Feedback Control of Hybrid Dynamical Systems}, booktitle = {Encyclopedia of Systems and Control}, series = {NULL}, year = {2015}, publisher = {Springer}, organization = {Springer}, keywords = {hybrid systems}, author = {R. G. Sanfelice} } @inbook {77, title = {Control of Hybrid Dynamical Systems: An Overview of Recent Advances}, booktitle = {Hybrid Systems with Constraints}, series = {NULL}, year = {2013}, month = {April}, pages = {146-177}, publisher = {Wiley}, organization = {Wiley}, keywords = {hybrid systems}, doi = {http://eu.wiley.com/WileyCDA/WileyTitle/productCd-1848215274.html}, author = {R. G. Sanfelice}, editor = {J. Daafouz and S. Tarbouriech and M. Sigalotti} } @inbook {36, title = {Hybrid Control Systems}, booktitle = {Encyclopedia of Complexity and Systems Science}, series = {NULL}, year = {2009}, publisher = {Springer}, organization = {Springer}, abstract = {This article will present a general framework for modeling hybrid control systems and studying their dynamical properties. It will put forth basic tools for studying asymptotic stability properties of hybrid systems. Then, particular aspects of hybrid control will be described, as well as approaches to control objectives that can be successfully achieved via hybrid control even if they are not solvable with classical methods.}, keywords = {hybrid systems}, author = {A. R. Teel and R. G. Sanfelice and R. Goebel} } @inbook {21, title = {Hybrid systems: limit sets and zero dynamics with a view toward output regulation}, booktitle = {Analysis and Design of Nonlinear Control Systems}, year = {2008}, pages = {241-261}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {Hybrid systems: limit sets and zero dynamics with a view toward output regulation}, abstract = {

We present results on omega-limit sets and minimum phase zero dynamics for hybrid dynamical systems. Moreover, we give pointers to how these results may be useful in the future for solving the output regulation problem for hybrid systems. We highlight the main attributes of omega-limit sets and we show, under mild conditions, that they are asymptotically stable. We define a minimum phase notion in terms of omega-limit sets and establish an equivalent Lyapunov characterization. Then we study the feedback stabilization problem for a class of minimum phase, relative degree one hybrid systems. Finally, we discuss output regulation for this class of hybrid systems. We illustrate the concepts with examples throughout the paper.

}, keywords = {hybrid systems}, doi = {http://www.springer.com/west/home/generic/search/results?http://www.springerlink.com/content/r00r175353435104/fulltext.pdf}, url = {https://hybrid.soe.ucsc.edu/files/preprints/21.pdf}, author = {C. Cai and R. Goebel and R. G. Sanfelice and A. R. Teel}, editor = {A. Astolfi and L. Marconi and A. Astolfi and L. Marconi} } @article {364, title = {Observer Design for Hybrid Systems with Partially Affine Forms and Known Jump Times: Applications to Walking Robots}, journal = {Automatica}, year = {2026}, author = {G. Q. B. Tran and P. Bernard and R. G. Sanfelice} } @article {363, title = {Control Barrier Function based Attack-Recovery with Provable Guarantees}, journal = {IEEE Transactions on Automatic Control}, year = {2026}, month = {September}, author = {K. Garg and R. G. Sanfelice and A. Cardenas} } @article {362, title = {Distributed Nonconvex Optimization with Exponential Convergence Rate via Hybrid Systems Methods}, journal = {Journal of Optimization Theory and Applications}, volume = {209}, number = {28}, year = {2026}, month = {April}, author = {K. Hendrickson and D. Hustig-Schultz and M. Hale and R. G. Sanfelice} } @article {357, title = {Data-Driven Stability and Optimality Certificates for Hybrid Dynamical Systems}, journal = {Nonlinear Analysis: Hybrid Systems}, volume = {60}, year = {2026}, pages = {101678}, author = {C. A. Montenegro and S. Jimenez and R. G. Sanfelice} } @article {356, title = {Conical Transition Graphs for Analysis of Asymptotic Stability in Hybrid Dynamical Systems}, journal = {Nonlinear Analysis: Hybrid Systems}, volume = {60}, year = {2026}, pages = {101660}, author = {P. K. Wintz and R. G. Sanfelice} } @article {349, title = {Stochastic Approximation of Hybrid Systems: Boundedness and Asymptotic Behavior}, journal = {Annual Reviews in Control}, year = {2025}, author = {A. R. Teel and R. G. Sanfelice and R. Goebel} } @article {348, title = {Lyapunov-like Descriptions of Strong Forward Invariance for Differential Inclusions}, journal = {SIAM Journal on Control and Optimization}, year = {2025}, author = {R. Goebel and R. G. Sanfelice and A. R. Teel} } @article {347, title = {Two-Player Zero-Sum Hybrid Games}, journal = {Automatica}, volume = {185}, year = {2025}, pages = {112688}, author = {S. Jimenez and R. G. Sanfelice} } @article {342, title = {A Timer-Based Hybrid Supervisor for Robust, Chatter-Free Policy Switching}, journal = {Reinforcement Learning Journal}, volume = {6}, year = {2025}, month = {August}, pages = {2508-2529}, author = {J. de Priester and R. G. Sanfelice} } @article {335, title = {Switched-Gain Observers for Linear Systems by Using Max/Min Lyapunov Functions}, journal = {IEEE Control Systems Letters}, volume = {9}, year = {2025}, month = {December}, pages = {336-341}, author = {A. Alessandri and R. G. Sanfelice} } @article {328, title = {Motion planning for hybrid dynamical systems: Framework, algorithm template, and a sampling-based approach}, journal = {The International Journal of Robotics Research}, year = {2025}, month = {March}, author = {N. Wang and R. G. Sanfelice} } @article {316, title = {MultiHyRL: Robust Hybrid RL for Obstacle Avoidance against Adversarial Attacks on the Observation Space}, journal = {Reinforcement Learning Journal}, volume = {1}, number = {1}, year = {2024}, month = {August}, author = {J. de Priester and Z. Bell and P. Ganesh and R. G. Sanfelice} } @article {312, title = {Hybrid Persistency of Excitation in Adaptive Estimation for Hybrid Systems}, journal = {IEEE Transactions on Automatic Control}, year = {2024}, month = {July}, pages = {1-8}, author = {A. Saoud and M. Maghenem and A. Loria and R. G. Sanfelice} } @article {311, title = {Robust Synergistic Hybrid Feedback}, journal = {IEEE Transactions on Automatic Control}, year = {2024}, month = {December}, pages = {1-16}, author = {P. Casau and R. G. Sanfelice and C. Silvestre} } @article {310, title = {Adaptive Safety with a RISE-Based Disturbance Observer}, journal = {IEEE Transactions on Automatic Control}, volume = {69}, year = {2024}, month = {July}, pages = {4883-4890}, author = {A. Isaly and O. S. Patil and H. Sweatland and R. G. Sanfelice and W. Dixon} } @article {308, title = {Robust Parameter Estimation for Hybrid Dynamical Systems with Linear Parametric Uncertainty}, journal = {Automatica}, volume = {167}, year = {2024}, author = {R. S. Johnson and S. Di Cairano and R. G. Sanfelice} } @article {307, title = {Pointwise Exponential Stability of State Consensus with Intermittent Communication}, journal = {IEEE Transactions on Automatic Control}, year = {2024}, month = {April}, pages = {1-16}, author = {S. Phillips and R. G. Sanfelice} } @article {306, title = {On the Feasibility and Continuity of Feedback Controllers Defined by Multiple Control Barrier Functions}, journal = {IEEE Transactions on Automatic Control}, volume = {69}, year = {2024}, month = {March}, pages = {1-15}, author = {A. Isaly and M. Ghanbarpour and R. G. Sanfelice and W. Dixon} } @article {303, title = {A Hybrid Observer for Linear Systems under Delayed Sporadic Measurements}, journal = {International Journal of Robust and Nonlinear Control}, year = {2024}, month = {January}, pages = {1-26}, author = {M. Guarro and F. Ferrante and R. G. Sanfelice} } @article {302, title = {Semiglobal High-Gain Hybrid Observer for a Class of Hybrid Dynamical Systems with Unknown Jump Times}, journal = {IEEE Transactions on Automatic Control}, volume = {69}, year = {2024}, month = {September}, pages = {5804 - 5819}, author = {P. Bernard and R. G. Sanfelice} } @article {299, title = {Convergence of Nonlinear Observers on $\mathbb{R}^n$ with a {R}iemannian Metric {(Part III)}}, journal = {IEEE Transactions on Automatic Control}, volume = {69}, year = {2024}, month = {March}, pages = {1432-1447}, author = {R. G. Sanfelice and L. Praly} } @article {295, title = {Notions, Stability, Existence, and Robustness of Limit Cycles in Hybrid Dynamical Systems}, journal = {IEEE Transactions on Automatic Control }, year = {2023}, month = {December}, pages = {1-16}, author = {X. Lou and Y. Li and R. G. Sanfelice} } @article {292, title = {Exploiting Invariance Properties to Certify Always and Eventually Signal Temporal Logic Operators for Hybrid Dynamical Systems}, journal = {IEEE Control Systems Letters}, volume = {7}, year = {2023}, month = {June}, pages = {2809-2814}, author = {H. Han and R. G. Sanfelice} } @article {286, title = {Regularity of Optimal Solutions and the Optimal Cost for Hybrid Dynamical Systems via Reachability Analysis}, journal = {Automatica}, volume = {152}, year = {2023}, month = {March}, author = {B. Altin and R. G. Sanfelice} } @article {282, title = {HyNTP: A Distributed Hybrid Algorithm for Time Synchronization}, journal = {IEEE Transactions on Control of Network Systems}, year = {2023}, month = {January}, pages = {1-12}, author = {M. Guarro and R. G. Sanfelice} } @article {270, title = {Robust Output Feedback Control Design in the Presence of Sporadic Measurements}, journal = {IEEE Transactions on Automatic Control}, volume = {68}, number = {6}, year = {2023}, month = {June}, pages = {3768-3775}, author = {R. Merco and F. Ferrante and R. G. Sanfelice and P. Pisu} } @article {262, title = {On the Converse Safety Problem for Differential Inclusions: Solutions, Regularity, and Time-Varying Barrier Functions}, journal = {IEEE Transactions on Automatic Control}, volume = {68}, number = {1}, year = {2023}, month = {January}, pages = {172-187}, author = {M. Maghenem and R. G. Sanfelice} } @article {259, title = {Explaining the {\textquotedblleft}Mystery{\textquotedblright} of Periodicity in Inter-Transmission Times in Two-Dimensional Event-Triggered Controlled Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {68}, number = {2}, year = {2023}, month = {February}, pages = {912-927}, author = {R. Postoyan and R. G. Sanfelice and W. P. M. H. Heemels} } @article {285, title = {Solutions and Reachable Sets of Hybrid Dynamical Systems: Semicontinuous Dependence on Initial Conditions, Time, and Perturbations}, journal = {Automatica}, volume = {148}, year = {2022}, month = {December}, author = {B. Altin and R. G. Sanfelice} } @article {275, title = {Optimal Safety for Constrained Differential Inclusions using Nonsmooth Control Barrier Functions}, journal = {IEEE Control Systems Letters (L-CSS)}, volume = {7}, year = {2022}, month = {December}, pages = {1303-1308}, author = {M. Ghanbarpour and A. Isaly and R. G. Sanfelice and W. Dixon} } @article {274, title = {Control Design under Actuator Saturation and Multi-Rate Sampling}, journal = {Automatica}, volume = {148}, year = {2022}, month = {October}, author = {F. Ferrante and R. G. Sanfelice and S. Tarbouriech} } @article {273, title = {Certifying the LTL Formula p Until q in Hybrid Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {68}, number = {7}, year = {2022}, month = {September}, pages = {4451-4458}, keywords = {Automata, Control systems, Convergence, Dynamical systems, safety, Stability analysis, Time-domain analysis}, author = {H. Han and M. Maghenem and R. G. Sanfelice} } @article {272, title = {A Switching-based Moving Target Defense Against Sensor Attacks in Control Systems}, journal = {Nonlinear Analysis: Hybrid Systems}, volume = {47}, year = {2022}, author = {J. Giraldo and A. Cardenas and R. G. Sanfelice} } @article {260, title = {Necessary and Sufficient Conditions for the Nonincrease of Functions of Solutions to Constrained Differential Inclusions}, journal = {ESAIM: Control, Optimisation and Calculus of Variations}, volume = {28}, number = {13}, year = {2022}, month = {February}, author = {M. Maghenem and A. Melis and R. G. Sanfelice} } @article {258, title = {Observer Design for Hybrid Dynamical Systems with Approximately Known Jump Times}, journal = {Automatica}, volume = {141}, year = {2022}, month = {July}, author = {P. Bernard and R. G. Sanfelice} } @article {237, title = {Robust Coordinated Hybrid Source Seeking with Obstacle Avoidance in Multi-Vehicle Autonomous Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {67}, number = {2}, year = {2022}, month = {February}, pages = {706-721}, author = {J. I. Poveda and M. Benosman and A. R. Teel and R. G. Sanfelice} } @article {261, title = {Robust Hybrid Supervisory Control for Spacecraft Close Proximity Missions}, journal = {Annual Reviews in Control}, volume = {52}, year = {2021}, month = {January}, pages = {316-329}, author = {B. P. Malladi and R. G. Sanfelice and E.A. Butcher} } @article {257, title = {Encouraging Volitional Pedaling in FES-Assisted Cycling Using Barrier Functions}, journal = {Frontiers in Robotics and AI}, volume = {8}, year = {2021}, month = {November}, author = {A. Isaly and B.C. Allen and R. G. Sanfelice and W. Dixon} } @article {236, title = {Sufficient Conditions for Forward Invariance and Contractivity in Hybrid Inclusions using Barrier Functions}, journal = {Automatica}, volume = {124}, year = {2021}, month = {February}, author = {M. Maghenem and R. G. Sanfelice} } @article {223, title = {Forward Invariance of Sets for Hybrid Dynamical Systems (Part II)}, journal = {IEEE Transactions on Automatic Control}, volume = {66}, number = {1}, year = {2021}, month = {January}, pages = {89-104}, author = {J. Chai and R. G. Sanfelice} } @article {230, title = {Analysis and Design of Event-triggered Control Algorithms using Hybrid Systems Tools}, journal = {International Journal of Robust and Nonlinear Control}, year = {2020}, month = {April}, author = {J. Chai and P. Casau and R. G. Sanfelice} } @article {219, title = {Rigid Body Pose Hybrid Control Using Dual Quaternions: Global Asymptotic Stabilization and Robustness}, journal = {Journal of Guidance, Control, and Dynamics}, volume = {43}, number = {9}, year = {2020}, month = {July}, author = {B. P. Malladi and E.A. Butcher and R. G. Sanfelice} } @article {218, title = {Linear Temporal Logic for Hybrid Dynamical Systems: Characterizations and Sufficient Conditions}, journal = {Nonlinear Analysis: Hybrid Systems}, volume = {36}, year = {2020}, month = {May}, author = {H. Han and R. G. Sanfelice} } @article {213, title = {Hybrid Systems with Delayed Jumps: Asymptotic Stability via Robustness and Lyapunov Conditions}, journal = {IEEE Transactions on Automatic Control}, volume = {65}, number = {8}, year = {2020}, month = {August}, pages = {3381-3396}, author = {B. Altin and R. G. Sanfelice} } @article {212, title = {A unifying convex analysis and switching system approach to consensus with undirected communication graphs}, journal = {Automatica}, volume = {111}, year = {2020}, month = {January}, author = {R. Goebel and R. G. Sanfelice} } @article {210, title = {Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors}, journal = {Automatica}, volume = {110}, year = {2019}, month = {December}, author = {P. Casau and C. G. Mayhew and R. G. Sanfelice and C. Silvestre} } @article {209, title = {Hybrid Dynamical Systems with Hybrid Inputs: Definition of Solutions and Applications to Interconnections}, journal = {International Journal of Robust and Nonlinear Control}, volume = {30}, year = {2019}, month = {October}, pages = {5892{\textendash}5916}, author = {P. Bernard and R. G. Sanfelice} } @article {208, title = {Hybrid Control for Robust and Global Tracking on Smooth Manifolds}, journal = {IEEE Transactions on Automatic Control}, volume = {65}, number = {5}, year = {2019}, month = {July}, pages = {1870-1885}, author = {P. Casau and R. Cunha and R. G. Sanfelice and C. Silvestre} } @article {190, title = {Robust Distributed Synchronization of Networked Linear Systems with Intermittent Information}, journal = {Automatica}, volume = {105}, year = {2019}, month = {July}, pages = {323-333}, author = {S. Phillips and R. G. Sanfelice} } @article {189, title = {$\mathcal{L}_2$ State Estimation with Guaranteed Convergence Speed in the Presence of Sporadic Measurements}, journal = {IEEE Transactions on Automatic Control}, volume = {64}, number = {8}, year = {2019}, month = {August}, pages = {3362 - 3369}, author = {F. Ferrante and F. Gouaisbaut and R. G. Sanfelice and S. Tarbouriech} } @article {188, title = {Finite Time Stability of Sets for Hybrid Dynamical Systems}, journal = {Automatica}, volume = {100}, year = {2019}, month = {February}, pages = {200-211}, author = {Y. Li and R. G. Sanfelice} } @article {185, title = {Forward Invariance of Sets for Hybrid Dynamical Systems ({Part I})}, journal = {IEEE Transactions on Automatic Control}, volume = {64}, number = {6}, year = {2019}, month = {June}, pages = {2426-2441}, author = {J. Chai and R. G. Sanfelice} } @article {178, title = {Pointwise Asymptotic Stability in a Hybrid System and Well-Posed Behavior Beyond Zeno}, journal = {SIAM Journal on Control and Optimization}, volume = {56}, number = {2}, year = {2018}, month = {April}, pages = {1358-1385}, author = {R. Goebel and R. G. Sanfelice} } @article {177, title = {Robust Stability of Hybrid Limit Cycles With Multiple Jumps in Hybrid Dynamical Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {63}, number = {4}, year = {2018}, month = {April}, pages = {1220-1226}, author = {X. Lou and Y. Li and R. G. Sanfelice} } @article {163, title = {Robust Distributed Estimation for Linear Systems under Intermittent Information}, journal = {IEEE Transactions on Automatic Control}, volume = {63}, number = {4}, year = {2018}, month = {April}, pages = {973-988}, author = {Y. Li and S. Phillips and R. G. Sanfelice} } @article {156, title = {A hybrid feedback control strategy for autonomous waypoint transitioning and loitering of unmanned aerial vehicles}, journal = {Nonlinear Analysis: Hybrid Systems}, volume = {26}, year = {2017}, month = {November}, pages = {115-136}, author = {D. W. Smith and R. G. Sanfelice} } @article {153, title = {Hybrid Stabilization of Linear Systems with Reverse Polytopic Input Constraints}, journal = {IEEE Transactions on Automatic Control}, volume = {62}, number = {12}, year = {2017}, month = {February}, pages = {6473-6480}, keywords = {152}, author = {P. Casau and R. G. Sanfelice and C. Silvestre} } @article {152, title = {Robust Global Trajectory Tracking for Underactuated {VTOL} Aerial Vehicles using Inner-Outer Loop Control Paradigms}, journal = {IEEE Transactions on Automatic Control}, volume = {62}, number = {1}, year = {2017}, month = {January}, pages = {97-112}, chapter = {97}, author = {R. Naldi and M. Furci and R. G. Sanfelice and L. Marconi} } @article {147, title = {On an Invariance Principle for Differential-Algebraic Equations with Jumps and its Application to Switched Differential-Algebraic Equations}, journal = {Mathematics of Control Signal and Systems}, volume = {185}, year = {2017}, author = {P. Nanez and R. G. Sanfelice and N. Quijano} } @article {146, title = {A Zero-crossing Detection Algorithm for Robust Simulation of Hybrid Systems Jumping on Surfaces}, journal = {Simulation Modelling Practice and Theory}, volume = {68}, year = {2016}, month = {November}, pages = {1-17}, chapter = {1}, author = {D. A. Copp and R. G. Sanfelice} } @article {138, title = {Computationally-Aware Switching Criteria for Hybrid Model Predictive Control Of Cyber-Physical Systems}, journal = {IEEE Transactions on Automation Science and Engineering}, volume = {13}, year = {2016}, pages = {479-490}, doi = {http://dx.doi.org/10.1109/TASE.2016.2523341}, author = {K. Zhang and J. Sprinkle and R. G. Sanfelice} } @article {137, title = {Distance function design and Lyapunov techniques for the stability of hybrid trajectories}, journal = {Automatica}, volume = {73}, year = {2016}, month = {November}, pages = {38-46 }, chapter = {38}, author = {J. J. B. Biemond and W. P. M. H. Heemels and R. G. Sanfelice and N. van de Wouw} } @article {136, title = {State Estimation of Linear Systems in the Presence of Sporadic Measurements}, journal = {Automatica}, volume = {73}, year = {2016}, month = {November}, pages = {101-109}, chapter = {101}, author = {F. Ferrante and F. Gouaisbaut and R. G. Sanfelice and S. Tarbouriech} } @article {132, title = {Basic Properties and Characterizations of Incremental Stability Prioritizing Flow Time for a Class of Hybrid Systems}, journal = {Systems and Control Letters}, volume = {90}, year = {2016}, month = {April}, pages = {7-15}, author = {Y. Li and S. Phillips and R. G. Sanfelice} } @article {127, title = {Convergence of Nonlinear Observers on $\mathbb{R}^n$ with a Riemannian Metric {(Part II)}}, journal = {IEEE Transactions on Automatic Control}, volume = {61}, number = {10}, year = {2016}, month = {October}, pages = {2848-2860}, author = {R. G. Sanfelice and L. Praly} } @article {114, title = {Interconnected Observers for Robust Decentralized Estimation with Performance Guarantees and Optimized Connectivity Graph}, journal = {IEEE Transactions on Control of Network Systems}, volume = {3}, number = {1}, year = {2016}, pages = {1-11}, keywords = {observers}, doi = {10.1109/TCNS.2015.2428351}, author = {Y. Li and R. G. Sanfelice} } @article {112, title = {Robust Asymptotic Stability of Desynchronization in Impulse-Coupled Oscillators}, journal = {IEEE Transactions on Control of Network Systems}, volume = {3}, year = {2016}, month = {June}, pages = {127-136}, abstract = {

The property of desynchronization in an all-to-all network of homogeneous impulse-coupled oscillators is studied. Each impulse-coupled oscillator is modeled as a hybrid system with a single timer state that self-resets to zero when it reaches a threshold, at which event all other impulse-coupled oscillators adjust their timers following a common reset law. In this setting, desynchronization is considered as each impulse-coupled oscillator{\textquoteright}s timer having equal separation between successive resets. We show that for the considered model, desynchronization is an asymptotically stable property. For this purpose, we recast desynchronization as a set stabilization problem and employ Lyapunov stability tools for hybrid systems. Furthermore, several perturbations are considered showing that desynchronization is a robust property. Perturbations on the continuous and discrete dynamics are considered. Numerical results are presented to illustrate the main contributions.

}, keywords = {hybrid systems}, author = {S. Phillips and R. G. Sanfelice} } @article {125, title = {Computationally Aware Control of Autonomous Vehicles: A Hybrid Model Predictive Control Approach}, journal = {Autonomous Robots}, volume = {39}, year = {2015}, month = {December}, pages = {503-517}, author = {K. Zhang and J. Sprinkle and R. G. Sanfelice} } @article {113, title = {Robust Global Trajectory Tracking for a Class of Underactuated Vehicles}, journal = {Automatica}, volume = {58}, year = {2015}, month = {August}, pages = {90-98}, keywords = {attitude control}, author = {P. Casau and R. G. Sanfelice and R. Cunha and D. Cabecinhas and C. Silvestre} } @article {111, title = {A Finite-time Convergent Observer with Robustness to Piecewise-constant Measurement Noise}, journal = {Automatica}, volume = {57}, year = {2015}, month = {July}, pages = {222-230}, keywords = {hybrid systems, observers}, author = {Y. Li and R. G. Sanfelice} } @article {110, title = {Robust Global Stabilization of the {DC-DC} Boost Converter via Hybrid Control}, journal = {IEEE Transactions on Circuits and Systems I}, volume = {62}, year = {2015}, month = {April}, pages = {1052-1061}, keywords = {hybrid systems, power systems}, author = {T. A. F. Theunisse and J. Chai and R. G. Sanfelice and W. P. M. H. Heemels} } @article {104, title = {A Globally Asymptotically Stabilizing Trajectory Tracking Controller for Fully Actuated Rigid Bodies using Landmark-based Information}, journal = {International Journal of Robust and Nonlinear Control}, volume = {25}, year = {2015}, pages = {3617--3640}, keywords = {attitude control}, doi = {10.1002/rnc.3283}, author = {P. Casau and R. G. Sanfelice and R. Cunha and C. Silvestre} } @article {100, title = {Input-Output Triggered Control using Lp Stability over Finite Horizons}, journal = {International Journal of Robust and Nonlinear Control}, year = {2015}, month = {June}, pages = {2299--2327 }, keywords = {hybrid systems}, doi = {10.1002/rnc.3203}, author = {D. Tolic and R. G. Sanfelice and R. Fierro} } @article {96, title = {Input-Output-to-State Stability Tools for Hybrid Systems and Their Interconnections}, journal = {IEEE Transactions on Automatic Control}, volume = {59}, number = {5}, year = {2014}, month = {May}, pages = {1360-1366}, keywords = {hybrid systems}, author = {R. G. Sanfelice} } @article {89, title = {Dynamical Properties of a Two-gene Network with Hysteresis}, journal = {Special Issue on Hybrid Systems and Biology, Elsevier Information and Computation}, volume = {236}, year = {2014}, month = {August}, pages = {102--121}, chapter = {102}, keywords = {hybrid systems}, author = {Q. Shu and R. G. Sanfelice} } @article {88, title = {On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints}, journal = {Automatica}, volume = {50}, number = {2}, year = {2014}, month = {February}, pages = {537{\textendash}546}, keywords = {hybrid systems}, doi = {http://www.sciencedirect.com/science/article/pii/S0005109813005335}, author = {R. G. Sanfelice and S. Z. Yong and E. Frazzoli} } @article {75, title = {On the existence of control {L}yapunov functions and state-feedback laws for hybrid systems}, journal = {IEEE Transactions on Automatic Control}, volume = {58}, number = {12}, year = {2013}, month = {December}, pages = {3242{\textendash}3248}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/75.pdf}, author = {R. G. Sanfelice} } @article {70, title = {Robust Supervisory Control for Uniting Two Output-Feedback Hybrid Controllers with Different Objectives}, journal = {Automatica}, volume = {49}, number = {7}, year = {2013}, month = {July}, pages = {1958{\textendash}1969}, keywords = {hybrid systems}, doi = {http://www.sciencedirect.com/science/article/pii/S0005109813001787}, url = {https://hybrid.soe.ucsc.edu/files/preprints/70.pdf}, author = {R. G. Sanfelice and C. Prieur} } @article {69, title = {Passivity-based Control for Hybrid Systems with Applications to Mechanical Systems Exhibiting Impacts}, journal = {Automatica}, volume = {49}, number = {5}, year = {2013}, month = {May}, pages = {1104{\textendash}1116}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/69.pdf}, author = {R. Naldi and R. G. Sanfelice} } @article {68, title = {On Path-Lifting Mechanisms and Unwinding in Quaternion-based Attitude Control}, journal = {IEEE Transactions on Automatic Control}, volume = {58}, number = {5}, year = {2013}, month = {May}, pages = {1179{\textendash}1191}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6389715}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @article {67, title = {An Embedding Approach for the Design of State-Feedback Tracking Controllers for References with Jumps}, journal = {International Journal of Robust and Nonlinear Control}, volume = {24}, number = {11}, year = {2013}, pages = {1585{\textendash}1608}, abstract = {

We study the problem of designing state-feedback controllers to track time-varying state trajectories that may exhibit jumps. Both plants and controllers considered are modeled as hybrid dynamical systems, which are systems with both continuous and discrete dynamics, given in terms of a flow set, a flow map, a jump set, and a jump map. Using recently developed tools for the study of stability in hybrid systems, we recast the tracking problem as the task of asymptotically stabilizing a set, the tracking set, and derive conditions for the design of state-feedback tracking controllers with the property that the jump times of the plant coincide with those of the given reference trajectories. The resulting tracking controllers guarantee that solutions of the plant starting close to the reference trajectory stay close to it and that the difference between each solution of the controlled plant and the reference trajectory converges to zero asymptotically. Constructive conditions for tracking control design in terms of LMIs are proposed for a class of hybrid systems with linear maps and input-triggered jumps. The results are illustrated by various examples. Copyright {\textcopyright} 2013 John Wiley \& Sons, Ltd.

}, keywords = {hybrid systems}, issn = {1099-1239}, doi = {http://dx.doi.org/10.1002/rnc.2944}, url = {https://hybrid.soe.ucsc.edu/files/preprints/67.pdf}, author = {R. G. Sanfelice and J. J. B. Biemond and N. van de Wouw and W. P. M. H. Heemels} } @article {58, title = {Quaternion-Based Hybrid Feedback for Robust Global Attitude Synchronization}, journal = {IEEE Transactions on Automatic Control}, volume = {57}, number = {8}, year = {2012}, month = {August}, pages = {2122{\textendash}2127}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6111242}, url = {https://hybrid.soe.ucsc.edu/files/preprints/58.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and J. Sheng and M. Arcak and A. R. Teel} } @article {57, title = {Convergence of Nonlinear Observers on $\mathbb{R}^n$ with a {R}iemannian Metric {(Part I)}}, journal = {IEEE Transactions on Automatic Control}, volume = {57}, number = {7}, year = {2012}, month = {July}, pages = {1709{\textendash}1722}, keywords = {observers}, doi = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6104368}, url = {http://arxiv.org/abs/1412.6730}, author = {R. G. Sanfelice and L. Praly} } @article {53, title = {On the Performance of High-gain Observers with Sign-indefinite Gain Adaptation under Measurement Noise}, journal = {Automatica}, volume = {47}, number = {10}, year = {2011}, month = {October}, pages = {2165{\textendash}2176}, keywords = {observers}, doi = {http://www.sciencedirect.com/science/article/pii/S0005109811003736}, author = {R. G. Sanfelice and L. Praly} } @article {52, title = {Interconnections of Hybrid Systems: Some Challenges and Recent Results}, journal = {Journal of Nonlinear Systems and Applications}, volume = {2}, number = {1-2}, year = {2011}, pages = {111{\textendash}121}, keywords = {hybrid systems}, doi = {http://jnsaonline.watsci.org/abstract_pdf/2011v2/v2n1-pdf/13.pdf}, url = {https://hybrid.soe.ucsc.edu/files/preprints/52.pdf}, author = {R. G. Sanfelice} } @article {50, title = {Quaternion-Based Hybrid Controller for Robust Global Attitude Tracking}, journal = {IEEE Transactions on Automatic Control}, volume = {56}, number = {11}, year = {2011}, month = {November}, pages = {2555{\textendash}2566}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5701762}, url = {https://hybrid.soe.ucsc.edu/files/preprints/50.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @article {45, title = {On singular perturbations due to fast actuators in hybrid control systems}, journal = {Automatica}, volume = {47}, number = {4}, year = {2011}, month = {April}, pages = {692{\textendash}701}, keywords = {hybrid systems}, doi = {http://www.sciencedirect.com/science/article/pii/S0005109811000707}, url = {https://hybrid.soe.ucsc.edu/files/preprints/45.pdf}, author = {R. G. Sanfelice and A. R. Teel} } @article {40, title = {Dynamical Properties of Hybrid Systems Simulators}, journal = {Automatica}, volume = {46}, number = {2}, year = {2010}, pages = {239{\textendash}248}, abstract = {This paper analyzes the dynamical properties of a class of hybrid systems simulators. A hybrid system is a dynamical system with a state that can both ?ow and jump. Its simulator attempts to generate its solutions approximately. The paper presents mild regularity conditions on the hybrid system and its simulator to guarantee that simulated solutions are close to actual solutions on compact (hybrid) time intervals, and that asymptotically stable compact sets are preserved, in a semiglobal practical sense, under simulation. In fact, it is established that asymptotically stable compact sets are continuous in the integration step size parameter of the simulator; that is, as the step size of the simulator converges to zero, the asymptotically stable set observed in simulations approaches the asymptotically stable compact set of the true hybrid system. Examples are used to illustrate concepts and results.}, keywords = {simulation}, doi = {http://www.sciencedirect.com/science/article/pii/S0005109809004361}, url = {https://hybrid.soe.ucsc.edu/files/preprints/40.pdf}, author = {R. G. Sanfelice and A. R. Teel} } @article {35, title = {Asymptotic stability in hybrid systems via nested {M}atrosov functions}, journal = {IEEE Transactions on Automatic Control}, volume = {54}, number = {7}, year = {2009}, pages = {1569{\textendash}1574}, abstract = {A theorem on nested Matrosov functions is extended to time-varying hybrid systems. It provides suf?cient conditions for uniform global asymptotic stability of a compact set. An application to parameter identi?cation with state resets is made and illustrated on an example.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5071164}, url = {https://hybrid.soe.ucsc.edu/files/preprints/35.pdf}, author = {R. G. Sanfelice and A. R. Teel} } @article {34, title = {Hybrid dynamical systems}, journal = {IEEE Control Systems Magazine}, volume = {29}, number = {2}, year = {2009}, month = {April}, pages = {28-93}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4806347\&isnumber=4806311}, url = {https://hybrid.soe.ucsc.edu/files/preprints/34.pdf}, author = {R. Goebel and R. G. Sanfelice and A.R. Teel} } @article {29, title = {Generalized solutions to hybrid dynamical systems}, journal = {ESAIM: Control, Optimisation and Calculus of Variations}, volume = {14}, number = {4}, year = {2008}, pages = {699{\textendash}724}, abstract = {Several recent results in the area of robust asymptotic stability of hybrid systems show that the concept of a generalized solution to a hybrid system is suitable for the analysis and design of hybrid control systems. In this paper, we show that such generalized solutions are exactly the solutions that arise when measurement noise in the system is taken into account.}, keywords = {hybrid systems}, doi = {http://www.esaim-cocv.org/action/displayAbstract?fromPage=online\&aid=8133135\&fulltextType=RA\&doiId=S1292811908000080}, url = {https://hybrid.soe.ucsc.edu/files/preprints/29.pdf}, author = {R. G. Sanfelice and R. Goebel and A.R. Teel} } @article {22, title = {Invariance principles for switching systems via hybrid systems techniques}, journal = {Systems \& Control Letters}, volume = {57}, number = {12}, year = {2008}, month = {December}, pages = {980-986}, abstract = {Invariance principles and sufficient conditions for asymptotic stability for switching systems are given. Multiple Lyapunov-like functions are used, and dwell-time, persistent dwell-time, and weak dwell-time switching signals are considered. The invariance principles are derived from general invariance principles for hybrid systems. Asymptotic stability is concluded under observability assumptions or common bounds on the Lyapunov-like functions.}, keywords = {hybrid systems}, doi = {http://www.sciencedirect.com/science/article/pii/S0167691108001035}, url = {https://hybrid.soe.ucsc.edu/files/preprints/22.pdf}, author = {R. Goebel and R. G. Sanfelice and A. R. Teel} } @article {18, title = {Invariance principles for hybrid systems with connections to detectability and asymptotic stability}, journal = {IEEE Transactions on Automatic Control}, volume = {52}, number = {12}, year = {2007}, pages = {2282{\textendash}2297}, abstract = {The paper shows several versions of the (LaSalle{\textquoteright}s) invariance principle for general hybrid systems. The broad framework allows for nonuniqueness of solutions, Zeno behaviors, and does not insist on continuous dependence of solutions on initial conditions. Instead, only a mild structural property involving graphical convergence of solutions is posed. The general invariance results are then specified to hybrid systems given by set-valued data. Further results involving invariance as well as observability, detectability, and asymptotic stability are given.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=04395187}, url = {https://hybrid.soe.ucsc.edu/files/preprints/18.pdf}, author = {R. G. Sanfelice and R. Goebel and A. R. Teel} } @conference {365, title = {On Input-to-State Stability for a Class of Stochastic Hybrid Systems}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, year = {2026}, month = {May}, author = {C. A. Montenegro and D. E. Ochoa and R. G. Sanfelice} } @conference {361, title = {Bayesian Optimization for Informative Excitation Design for Estimation of Inertia Parameters in Spacecraft Rendezvous and Docking}, booktitle = {Proceedings of the AAS Guidance, Navigation and Control Conference}, year = {2026}, month = {January}, author = {H. Basu and R. G. Sanfelice} } @conference {358, title = {A Hybrid Model Predictive Control Framework for Docking and Stabilization of Composite Rigid Spacecraft Dynamics}, booktitle = {2025 AIAA SciTech Forum-Guidance, Navigation, and Control Conference}, year = {2026}, month = {January}, author = {H. Basu and P. Jirwankar and R. G. Sanfelice and M. Castroviejo-Fernandez and I. Kolmanovsky} } @conference {350, title = {HyRNN: Hybrid Recurrent Neural Networks for Approximating Hybrid Dynamical Systems}, booktitle = {40th Annual AAAI Conference on Artificial Intelligence}, volume = {40}, number = {30}, year = {2026}, month = {March}, pages = {25184-25191}, author = {R. G. Sanfelice} } @conference {355, title = {Interval Observers for Uncertain Hybrid Dynamical Systems with Known Jump Times}, booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control}, year = {2025}, month = {November}, pages = {8264-8270}, author = {T. Pati and R. G. Sanfelice and S. Z. Yong} } @conference {354, title = {On Non-Euclidean Contraction Theory for Constrained Differential Inclusions}, booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control}, year = {2025}, month = {December}, pages = {6511-6516}, author = {D. E. Ochoa and R. G. Sanfelice} } @conference {353, title = {A Barrier Function-based Approach for Nonlinear L1 Control}, booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control}, year = {2025}, month = {December}, pages = {2675-2680}, author = {H. T. Choi and J. H. Kim and R. G. Sanfelice} } @conference {352, title = {Inverse-Optimal Input-to-State Stabilizing Control for Hybrid Systems}, booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control}, year = {2025}, month = {December}, pages = {6573-6578}, author = {C. A. Montenegro and S. Jimenez and R. G. Sanfelice} } @conference {351, title = {Pointwise Optimal Feedback Laws for Hybrid Inclusions using Multiple Control Barrier Functions}, booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control}, year = {2025}, month = {December}, pages = {5654-5659}, author = {C. A. Montenegro and H. Sweatland and K. Currier and W. Dixon and R. G. Sanfelice} } @conference {346, title = {On Robust Stability of Hybrid Limit Cycles in the Impulsive Goodwin{\textquoteright}s Oscillator}, booktitle = {Proceedings of the American Control Conference}, year = {2025}, month = {July}, pages = {1228-1233}, author = {X. Lou and R. G. Sanfelice} } @conference {345, title = {Hybrid Control of the Buck Converter for Global Asymptotic Stabilization}, booktitle = {Proceedings of the American Control Conference}, year = {2025}, month = {July}, pages = {1216-1221}, author = {Y. Fang and R. G. Sanfelice} } @conference {344, title = {Geometric Hybrid Dynamical Systems on Intrinsic Manifolds: Part II {\textendash} Hybrid Invariance Principle}, booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control}, year = {2025}, month = {December}, pages = {6599-6604}, author = {P. P. Jirwankar and D. E. Ochoa and R. G. Sanfelice} } @conference {343, title = {Geometric Hybrid Dynamical Systems on Intrinsic Manifolds: Part I {\textendash} Framework and Hybrid Lyapunov Theorem}, booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control}, year = {2025}, month = {December}, pages = {6593-6598}, author = {P. P. Jirwankar and R. G. Sanfelice} } @conference {341, title = {Distributed State Estimation with Sporadic Information Exchange Over Directed Switching Networks}, booktitle = {13th IFAC Symposium on Nonlinear Control Systems (NOLCOS)}, volume = {59}, number = {19}, year = {2025}, month = {August}, pages = {609-614}, author = {H. Basu and R. G. Sanfelice} } @conference {340, title = { Stochastic Approximations of Differential Inclusions: Almost Sure Boundedness and Asymptotic Convergence}, booktitle = {13th IFAC Symposium on Nonlinear Control Systems (NOLCOS)}, year = {2025}, month = {August}, author = {A. R. Teel and R. Goebel and R. G. Sanfelice} } @conference {339, title = {cHyRRT/cHySST: Motion Planning Tools for Hybrid Dynamical Systems}, booktitle = {Proceedings of the IEEE 21st International Conference on Automation Science and Engineering (CASE)}, year = {2025}, month = {August}, author = {B. Xu and N. Wang and R. G. Sanfelice} } @conference {334, title = {Relaxed Lyapunov Conditions for Compact Sets in Dynamical Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2025}, month = {July}, pages = {1246-1251}, author = {P. K. Wintz and R. G. Sanfelice} } @conference {333, title = {Hybrid Model Predictive Control Approach for Spacecraft Proximity Maneuvering and Docking Accounting for Collisions}, booktitle = {Proceedings of the American Control Conference}, year = {2025}, month = {July}, pages = {4954-4959}, author = {H. Basu and M. Castroviejo-Fernandez and R. G. Sanfelice and I. Kolmanovsky} } @conference {332, title = {A Robust and Global Hybrid Complementary Filter on SO(3) using Morse Functions on $\mathbbRP^3$}, booktitle = {Proceedings of the American Control Conference}, year = {2025}, month = {July}, pages = {4473-4478}, author = {P. P. Jirwankar and R. Montgomery and R. G. Sanfelice} } @conference {331, title = {Translational and Rotational Relative Dynamics Modeling and Its Use in Spacecraft Rendezvous With an Uncertain Docking Port Location}, booktitle = {2025 AIAA SciTech Forum-Guidance, Navigation, and Control Conference}, year = {2025}, month = {January}, author = {M. Castroviejo-Fernandez and M. Ambrosino and I. Kolmanovsky and H. Basu and R. G. Sanfelice} } @conference {330, title = {Sharc: Simulator for Hardware Architecture and Real-time Control}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, year = {2025}, month = {May}, author = {P. K. Wintz and Y. Sonmez and P. Griffioen and M. Xu and S. Oh and H. Litz and R. G. Sanfelice and M. Arcak} } @conference {329, title = {Inverse-Optimal Safety Control for Hybrid Systems}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, number = {15}, year = {2025}, month = {May}, pages = {1-10}, author = {C. A. Montenegro and S. Jimenez and R. G. Sanfelice} } @conference {327, title = {Deep Nonlinear Adaptive Control for Unmanned Aerial Systems Operating Under Dynamic Uncertainties}, booktitle = {2025 AIAA SciTech Forum-Guidance, Navigation, and Control Conference}, year = {2025}, month = {January}, author = {Z. Lamb and Z. Bell and M. Longmire and L. Paquet and P. Ganesh and R. G. Sanfelice} } @conference {326, title = {Digital-Twin-Enabled Multi-Spacecraft On-Orbit Operations}, booktitle = {2025 AIAA SciTech Forum-Guidance, Navigation, and Control Conference}, year = {2025}, month = {January}, author = {S. Henao-Garcia and M. Kapteyn and M. Tezzele and K. Willcox and M. Castroviejo-Fernandez and T. Kim and M. Ambrosino and I. Kolmanovsky and H. Basu and P. P. Jirwankar and R. G. Sanfelice} } @conference {325, title = {Robust Global Hybrid Passive Complementary Filter on SO(2)}, booktitle = {Proceedings of the 63rd IEEE Conference on Decision and Control}, year = {2024}, month = {December}, pages = {7946-7951}, author = {P. P. Jirwankar and R. G. Sanfelice} } @conference {324, title = {Stochastic Approximation Results for Hybrid Inclusions}, booktitle = {Proceedings of the 63rd IEEE Conference on Decision and Control}, year = {2024}, month = {December}, pages = {7822-7827}, author = {A. R. Teel and R. Goebel and R. G. Sanfelice and M. F. Crisafulli} } @conference {323, title = {Towards Gluing KKL Observer for Hybrid Systems with Unknown Jump Times}, booktitle = {Proceedings of the 63rd IEEE Conference on Decision and Control}, year = {2024}, month = {December}, pages = {7092-7097}, author = {S. Garcia-Castro and G. Q. B. Tran and P. Bernard and R. G. Sanfelice and F. Di-Meglio} } @conference {322, title = {Distributed State Estimation of Jointly Observable Linear Systems under Directed Switching Networks}, booktitle = {Proceedings of the 63rd IEEE Conference on Decision and Control}, year = {2024}, month = {December}, pages = {2232-2237}, author = {H. Basu and R. G. Sanfelice} } @conference {321, title = {A Tutorial on Hybrid Feedback Control}, booktitle = {Proceedings of the 63rd IEEE Conference on Decision and Control}, year = {2024}, month = {December}, pages = {729-748}, author = {P. Casau and F. Ferrante and R. G. Sanfelice} } @conference {320, title = {Some Converse Lyapunov-Like Results for Strong Forward Invariance}, booktitle = {Proceedings of the 63rd IEEE Conference on Decision and Control}, year = {2024}, month = {December}, pages = {3605-3610}, author = {R. Goebel and R. G. Sanfelice and A. R. Teel} } @conference {319, title = {Parameter Estimation for Hybrid Dynamical Systems with Delayed Jump Detection}, booktitle = {Proceedings of the American Control Conference}, year = {2024}, month = {July}, pages = {4675-4680}, author = {R. S. Johnson and R. G. Sanfelice} } @conference {318, title = {On the Optimal Cost and Asymptotic Stability in Two-Player Zero-Sum Set-Valued Hybrid Games}, booktitle = {Proceedings of the American Control Conference}, year = {2024}, month = {July}, pages = {875-880}, author = {S. Jimenez and F. Ferrante and R. G. Sanfelice} } @conference {317, title = {A Switched Reference Governor for High Performance Trajectory Tracking Control under State and Input Constraints}, booktitle = {Proceedings of the American Control Conference}, year = {2024}, month = {July}, pages = {4663-4668}, author = {N. Wang and Di Cairano, S. and R. G. Sanfelice} } @conference {315, title = {HyRRT-Connect: A Bidirectional Rapidly-Exploring Random Trees Motion Planning Algorithm for Hybrid Systems}, booktitle = {Proceedings of the 8th Analysis and Design of Hybrid Systems}, year = {2024}, month = {July}, author = {N. Wang and R. G. Sanfelice} } @conference {314, title = {A Hybrid Systems Formulation for a Capture-the-Flag Game}, booktitle = {Proceedings of the 8th Analysis and Design of Hybrid Systems}, year = {2024}, month = {July}, author = {S. Jimenez and P. Braun and R. G. Sanfelice and I. Shames} } @conference {313, title = {Conical Transition Graphs: A New Tool to Analyze Asymptotic Stability for Hybrid Systems}, booktitle = {Proceedings of the 8th Analysis and Design of Hybrid Systems}, year = {2024}, month = {July}, author = {P. K. Wintz and R. G. Sanfelice} } @conference {305, title = {A Data-Driven Approach for Certifying Asymptotic Stability and Cost Evaluation for Hybrid Systems}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, year = {2024}, month = {May}, pages = {1{\textendash}10}, author = {C. A. Montenegro and S. Jimenez and R. G. Sanfelice} } @conference {298, title = {Interval Observers for Hybrid Dynamical Systems with Known Jump Times}, booktitle = {Proceedings of the 62nd IEEE Conference on Decision and Control}, year = {2023}, month = {December}, pages = {7507-7513}, author = {T. Pati and M. Khajenejad and S. P. Daddala and R. G. Sanfelice and S. Z. Yong} } @conference {297, title = {Multi-Channel Hybrid Time Domains and Clustering Protocols for Large-Scale Interconnections}, booktitle = {Proceedings of the 62nd IEEE Conference on Decision and Control}, year = {2023}, month = {December}, pages = {2847-2852}, author = {A. R. Teel and R. Goebel and R. G. Sanfelice} } @conference {296, title = {On Invariants for Open Hybrid Systems and their Interconnections}, booktitle = {Proceedings of the 62nd IEEE Conference on Decision and Control}, year = {2023}, month = {December}, pages = {1859-1864}, author = {R. G. Sanfelice and A. R. Teel} } @conference {291, title = {A Discretization of the Hybrid Gradient Algorithm for Linear Regression with Sampled Hybrid Signals}, booktitle = {Proceedings of the American Control Conference}, year = {2023}, month = {July}, pages = {3560-3565}, author = {N. Wu and R. S. Johnson and R. G. Sanfelice} } @conference {290, title = {Global Accelerated Nonconvex Geometric Optimization Methods on SO(3)}, booktitle = {Proceedings of the American Control Conference}, year = {2023}, month = {July}, pages = {3554-3559}, author = {A. Akhtar and R. G. Sanfelice} } @conference {289, title = {Coupling Flow- and Jump-based Observers for Hybrid Systems with Nonlinear Maps and Known Jump Times}, booktitle = {Proceedings of the IFAC World Congress}, year = {2023}, month = {July}, author = {G. Q. B. Tran and P. Bernard and R. G. Sanfelice} } @conference {288, title = {An Observer-Based Switching Algorithm for Safety under Sensor Denial-Of-Service Attacks}, booktitle = {Proceedings of the American Control Conference}, year = {2023}, month = {July}, pages = {2469-2474}, author = {S. Jimenez and K. Garg and R. G. Sanfelice and A. Cardenas} } @conference {287, title = {A Totally Asynchronous Block-Based Heavy Ball Algorithm for Convex Optimization}, booktitle = {Proceedings of the American Control Conference}, year = {2023}, month = {July}, pages = {873-878}, author = {D. Hustig-Schultz and K. Hendrickson and M. Hale and R. G. Sanfelice} } @conference {360, title = {Mitigating Computational Constraints via Adaptive Control and Resource Allocation Co-design}, booktitle = {Proceedings of Workshop on Computation-Aware Algorithmic Design for Cyber-Physical Systems}, year = {2022}, month = {May}, pages = {19-20}, author = {L. T. X. Phan and R. G. Sanfelice} } @conference {359, title = {Challenges in Optimization-Based Control}, booktitle = {Proceedings of Workshop on Computation-Aware Algorithmic Design for Cyber-Physical Systems}, year = {2022}, month = {May}, pages = {17-18}, author = {M. Hale and R. G. Sanfelice} } @conference {281, title = {Control Barrier Function-Based Attack-Recovery with Provable Guarantees}, booktitle = {Proceedings of the 61st IEEE Conference on Decision and Control, December}, year = {2022}, month = {December}, pages = {4808-4813}, author = {K. Garg and R. G. Sanfelice and A. Cardenas} } @conference {280, title = {A Mixed Integer Approach to Solve Hybrid Model Predictive Control Problems}, booktitle = {Proceedings of the 61st IEEE Conference on Decision and Control}, year = {2022}, month = {December}, pages = {1956-1961}, author = {I. Nodozi and R. G. Sanfelice} } @conference {279, title = {Hybrid Concurrent Learning for Hybrid Linear Regression}, booktitle = {Proceedings of the 61st IEEE Conference on Decision and Control}, year = {2022}, month = {December}, pages = {3256-3261}, author = {R. S. Johnson and R. G. Sanfelice} } @conference {278, title = {Hybrid Geometric Controllers for Fully-Actuated Left-invariant Systems on Matrix Lie Groups}, booktitle = {Proceedings of the 61st IEEE Conference on Decision and Control}, year = {2022}, month = {December}, pages = {1855-1860}, author = {A. Akhtar and R. G. Sanfelice} } @conference {277, title = {Sufficient Conditions for Optimality in Finite-Horizon Two-Player Zero-Sum Hybrid Games}, booktitle = {Proceedings of the 61st IEEE Conference on Decision and Control}, year = {2022}, month = {December}, pages = {3268-3273}, author = {S. Jimenez and R. G. Sanfelice} } @conference {276, title = {A Rapidly-Exploring Random Trees Motion Planning Algorithm for Hybrid Dynamical Systems}, booktitle = {Proceedings of the 61st IEEE Conference on Decision and Control}, year = {2022}, month = {December}, pages = {2626-2631}, author = {N. Wang and R. G. Sanfelice} } @conference {271, title = {Sampling-Based Computation of Viability Domain to Prevent Safety Violations by Attackers}, booktitle = {Proceedings of the 6th IEEE Conference on Control Technology and Applications}, year = {2022}, month = {August}, pages = {720-725}, keywords = {computational methods, cyberphysical systems, cybersecurity}, author = {K. Garg and A. Cardenas and R. G. Sanfelice} } @conference {269, title = {Optimality and Stability in Two-Player Zero-Sum Hybrid Games}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, number = {30}, year = {2022}, month = {May}, pages = {1-2}, keywords = {game theory, hybrid system, optimality, stability}, doi = {doi.acm.org?doi=3501710.3526948}, author = {S. Jimenez and R. G. Sanfelice} } @conference {268, title = {A Set-based Motion Planning Algorithm for Aerial Vehicles in the Presence of Obstacles Exhibiting Hybrid Dynamics}, booktitle = {Proceedings of the 6th IEEE Conference on Control Technology and Applications}, year = {2022}, month = {August}, pages = {583-588}, keywords = {Aerial Vehicles, hybrid dynamics, motion planning}, author = {A. Ames and N. Wang and R. G. Sanfelice} } @conference {267, title = {On the Feasibility and Continuity of Feedback Controllers Defined by Multiple Control Barrier Functions for Constrained Differential Inclusions}, booktitle = {Proceedings of the American Control Conference}, year = {2022}, month = {June}, pages = {5160-5165}, keywords = {barrier functions, safety}, author = {A. Isaly and M. Ghanbarpour and W. Dixon and R. G. Sanfelice} } @conference {266, title = {Reference Governor for Hybrid Dynamical Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2022}, month = {June}, pages = {4921-4926}, keywords = {Constrained Control}, author = {R. G. Sanfelice and S. Di Cairano} } @conference {265, title = {Hysteresis-Based RL: Robustifying Reinforcement Learning-Based Control Policies Via Hybrid Control}, booktitle = {Proceedings of the American Control Conference}, year = {2022}, month = {June}, pages = {2663-2668}, keywords = {Reinforcement Learning}, author = {J. de Priester and R. G. Sanfelice and N. V. D. Wouw} } @conference {264, title = {Global Asymptotic Stability of Nonlinear Systems While Exploiting Properties of Uncertified Feedback Controllers Via Opportunistic Switching}, booktitle = {Proceedings of the American Control Conference}, year = {2022}, month = {June}, pages = {2663-2668}, keywords = {hybrid systems}, author = {P. K. Wintz and R. G. Sanfelice and J.P. Hespanha} } @conference {263, title = {A Class of Hybrid Geometric Controllers for Robust Global Asymptotic Stabilization on $S^1$}, booktitle = {Proceedings of the American Control Conference}, year = {2022}, month = {June}, pages = {874-879}, keywords = {hybrid systems}, author = {A. Akhtar and R. G. Sanfelice} } @conference {256, title = {Robust Finite-Time Parameter Estimation for Linear Dynamical Systems}, booktitle = {Proceedings of the 60th IEEE Conference on Decision and Control}, year = {2021}, month = {December}, pages = {4654-4659}, author = {R. S. Johnson and A. Saoud and R. G. Sanfelice} } @conference {254, title = {A Duality Approach to Set Invariance and Safety for Nonlinear Systems}, booktitle = {Proceedings of the 60th IEEE Conference on Decision and Control}, year = {2021}, month = {December}, pages = {5388-5393}, author = {M. Ghanbarpour and R. G. Sanfelice} } @conference {253, title = {Set-Valued Model Predictive Control}, booktitle = {Proceedings of the 60th IEEE Conference on Decision and Control}, year = {2021}, month = {December}, pages = {283-288}, author = {N. Risso and B. Altin and R. G. Sanfelice and J. Sprinkle} } @conference {252, title = {Exponentially Converging Distributed Gradient Descent with Intermittent Communication via Hybrid Methods}, booktitle = {Proceedings of the 60th IEEE Conference on Decision and Control}, year = {2021}, month = {December}, pages = {1186-1191}, author = {K. Hendrickson and D. Hustig-Schultz and M. Hale and R. G. Sanfelice} } @conference {251, title = {Hybrid Systems with Continuous-Time Inputs: Subtleties in Solution Concepts and Existence Results}, booktitle = {Proceedings of the 60th IEEE Conference on Decision and Control}, year = {2021}, month = {December}, pages = {5368-5373}, author = {W. P. M. H. Heemels and P. Bernard and R. Postoyan and K. Scheres and R. G. Sanfelice} } @conference {250, title = {A Local Hybrid Observer for a Class of Hybrid Dynamical Systems with Linear Maps and Unknown Jump Times}, booktitle = {Proceedings of the 60th IEEE Conference on Decision and Control}, year = {2021}, month = {December}, pages = {5362-5367}, author = {P. Bernard and R. G. Sanfelice} } @conference {249, title = {On the Robustness of Nominally Well-Posed Event-Triggered Controllers}, booktitle = {Proceedings of the 60th IEEE Conference on Decision and Control}, year = {2021}, month = {December}, pages = {415-420}, author = {P. Casau and R. G. Sanfelice and C. Silvestre} } @conference {247, title = {Towards Hybrid Model Predictive Control for Computationally Aware Satellite Applications}, booktitle = {Proceedings of Workshop on Computation-Aware Algorithmic Design for Cyber-Physical Systems, CPSWeek 2021}, year = {2021}, month = {May}, pages = {15-17}, author = {C. Peterson and S. Phillips and D. Hustig-Schultz and R. G. Sanfelice} } @conference {246, title = {Challenges in Set-Valued Model-Predictive Control}, booktitle = {Proceedings of Workshop on Computation-Aware Algorithmic Design for Cyber-Physical Systems, CPSWeek 2021}, year = {2021}, month = {May}, pages = {13-14}, author = {J. Sprinkle and N. Risso and B. Altin and R. G. Sanfelice} } @conference {245, title = {Computation of Controlled Invariants for Nonlinear Systems: Application to Safe Neural Networks Approximation and Control}, booktitle = {Proceedings of the 7th Analysis and Design of Hybrid Systems}, volume = {54}, year = {2021}, month = {July}, pages = {91-96}, author = {A. Saoud and R. G. Sanfelice} } @conference {244, title = {Hybrid Adaptive Control for the DC-DC Boost Converter}, booktitle = {Proceedings of the 7th Analysis and Design of Hybrid Systems}, volume = {54}, number = {5}, year = {2021}, month = {July}, pages = {73-78}, author = {R. S. Johnson and B. Altin and R. G. Sanfelice} } @conference {243, title = {A Robust Hybrid Finite Time Parameter Estimator with Relaxed Persistence of Excitation Condition}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {3975-3980}, author = {A. Saoud and R. G. Sanfelice} } @conference {242, title = {A Hybrid Gradient Algorithm for Linear Regression with Hybrid Signals}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {4997-5002}, author = {A. Saoud and M. Maghenem and R. G. Sanfelice} } @conference {241, title = {Uniting Nesterov{\textquoteright}s Accelerated Gradient Descent and the Heavy Ball Method for Strongly Convex Functions with Exponential Convergence Rate}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {959-964}, author = {D. Hustig-Schultz and R. G. Sanfelice} } @conference {240, title = {Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {2418-2423}, author = {M. Maghenem and A. Taylor and A. D. Ames and R. G. Sanfelice} } @conference {239, title = {Adaptive Safety With Multiple Barrier Functions Using Integral Concurrent Learning}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {3719-3724}, author = {A. Isaly and O. S. Patil and R. G. Sanfelice and W. E. Dixon} } @conference {238, title = {Self-Triggered Control to Guarantee Forward Pre-Invariance with Uniformly Positive Inter-Event Times}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {2278-2283}, author = {D. Kooi and M. Maghenem and R. G. Sanfelice} } @conference {235, title = {A Hybrid Algorithm for Practical Nonconvex Optimization}, booktitle = {Proceedings of the 2021 International Symposium on Mathematical Theory of Networks and Systems}, volume = {54}, number = {9}, year = {2021}, month = {August}, pages = {630-635}, author = {D. Hustig-Schultz and R. G. Sanfelice} } @conference {234, title = {Semicontinuity Properties of Solutions and Reachable Sets of Nominally Well-Posed Hybrid Dynamical Systems}, booktitle = {Proceedings of the 2020 IEEE Conference on Decision and Control}, year = {2020}, month = {December}, pages = {5755-5760}, author = {B. Altin and R. G. Sanfelice} } @conference {233, title = {On Notions of Detectability and Observers for Hybrid Systems}, booktitle = {Proceedings of the 2020 IEEE Conference on Decision and Control}, year = {2020}, month = {December}, pages = {5767-5772}, author = {P. Bernard and R. G. Sanfelice} } @conference {232, title = {Upper Bounds and Cost Evaluation in Dynamic Two-player Zero-Sum Games}, booktitle = {Proceedings of the 2020 IEEE Conference on Decision and Control}, year = {2020}, month = {December}, pages = {424-429}, author = {S. Jimenez and F. Ferrante and R. G. Sanfelice} } @conference {231, title = {Zeroing Control Barrier Functions for Safe Volitional Pedaling in a Motorized Cycle}, booktitle = {Proceedings of the IFAC Conference on Cyber-Physical \& Human-Systems}, volume = {53}, number = {5}, year = {2020}, month = {December}, pages = {218-223}, author = {A. Isaly and B. Allen and R. G. Sanfelice and W. Dixon} } @conference {229, title = {LMI-Based Output Feedback Control Design in the Presence of Sporadic Measurements}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {3331-3336}, author = {R. Merco and F. Ferrante and R. G. Sanfelice and P. Pisu} } @conference {228, title = {Model Predictive Control for Hybrid Dynamical Systems: Sufficient Conditions for Asymptotic Stability with Persistent Flows or Jumps}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {1791-1796}, author = {B. Altin and R. G. Sanfelice} } @conference {227, title = {Hybrid Predictive Control for Tracking in a Single-Phase DC/AC Inverter with an Unknown Load}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {1037-1042}, author = {H. Gao and M. Maghenem and R. G. Sanfelice} } @conference {226, title = {Regularity Properties of Reachability Maps for Hybrid Dynamical Systems with Applications to Safety}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {1031-1036}, author = {M. Maghenem and B. Altin and R. G. Sanfelice} } @conference {225, title = {HyNTP: An Adaptive Hybrid Network Time Protocol for Clock Synchronization in Heterogeneous Distributed Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {1025-1030}, author = {M. Guarro and R. G. Sanfelice} } @conference {224, title = {Lipschitzness of Minimal-Time Functions in Constrained Continuous-Time Systems with Applications to Reachability Analysis}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {937-942}, author = {M. Maghenem and R. G. Sanfelice} } @conference {222, title = {An Adaptive Hybrid Control Algorithm for Sender-Receiver Clock Synchronization}, booktitle = {Proceedings of the IFAC World Congress}, volume = {53}, number = {2}, year = {2020}, month = {July}, pages = {1906-1911}, author = {M. Guarro and R. G. Sanfelice} } @conference {221, title = {A Hybrid Control Algorithm for Gradient-Free Optimization using Conjugate Directions}, booktitle = {Proceedings of the IFAC World Congress}, volume = {53}, number = {2}, year = {2020}, month = {July}, pages = {5825-5830}, author = {A. Melis and R. G. Sanfelice and L. Marconi} } @conference {215, title = {Sufficient Conditions for Satisfaction of Formulas with Until Operators in Hybrid Systems}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, number = {8}, year = {2020}, month = {April}, pages = {1-10}, author = {H. Han and M. Maghenem and R. G. Sanfelice} } @conference {214, title = {Local Lipschitzness of Reachability Maps for Hybrid Systems with Applications to Safety}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, number = {21}, year = {2020}, month = {April}, pages = {1-11}, author = {M. Maghenem and R. G. Sanfelice} } @conference {211, title = {Certifying Optimality in Hybrid Control Systems via Lyapunov-like Conditions}, booktitle = {11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019)}, volume = {52}, number = {16}, year = {2019}, pages = {245-250}, author = {F. Ferrante and R. G. Sanfelice} } @conference {207, title = {Monotonicity Along Solutions to Constrained Differential Inclusions}, booktitle = {Proceedings of the 2019 IEEE Conference on Decision and Control}, year = {2019}, month = {December}, pages = {7228 - 7233}, author = {M. Maghenem and A. Melis and R. G. Sanfelice} } @conference {206, title = {Multiple Barrier Function Certificates for Weak Forward Invariance in Hybrid Inclusions}, booktitle = {Proceedings of the 2019 IEEE Conference on Decision and Control}, year = {2019}, month = {December}, pages = {6319-6324}, author = {M. Maghenem and R. G. Sanfelice} } @conference {205, title = {A Model Predictive Control Framework for Asymptotic Stabilization of Discretized Hybrid Dynamical Systems}, booktitle = {Proceedings of the 2019 IEEE Conference on Decision and Control}, year = {2019}, month = {December}, pages = {2356 - 2361}, author = {P. Ojaghi and B. Altin and R. G. Sanfelice} } @conference {204, title = {Observer-based Synchronization of Multi-agent Systems Using Intermittent Output Measurements}, booktitle = {Proceedings of the 2019 IEEE Conference on Decision and Control}, year = {2019}, month = {December}, pages = {8160 - 8165}, author = {S. Phillips and R. G. Sanfelice} } @conference {203, title = {Inter-event Times Analysis for Planar Linear Event-triggered Controlled Systems}, booktitle = {Proceedings of the 2019 IEEE Conference on Decision and Control}, year = {2019}, month = {December}, pages = {1662 - 1667}, author = {R. Postoyan and W. P. M. H. Heemels and R. G. Sanfelice} } @conference {202, title = {A Hybrid Control Strategy for Autonomous Navigation While Avoiding Multiple Obstacles at Unknown Locations}, booktitle = {Proceedings of the IEEE 15th International Conference on Automation Science and Engineering (CASE)}, year = {2019}, month = {August}, pages = {1042-1047}, author = {V. Muthukumaran and R. G. Sanfelice and G. Elkaim} } @conference {201, title = {Set-Based Predictive Control for Collision Detection and Evasion}, booktitle = {Proceedings of the IEEE 15th International Conference on Automation Science and Engineering (CASE)}, year = {2019}, month = {August}, pages = {541-546}, author = {J. Crowley and Y. Zeleke and B. Altin and R. G. Sanfelice} } @conference {200, title = {Analyzing Action Games: A Hybrid Systems Approach}, booktitle = {Proceedings of the Foundation of Digital Games Conference}, number = {8}, year = {2019}, month = {August}, pages = {1-11}, author = {Y. Zeleke and J. Osborn and R. G. Sanfelice} } @conference {199, title = {Characterizations of Safety in Hybrid Inclusions via Barrier Functions}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, year = {2019}, month = {July}, pages = {109{\textendash}118}, author = {M. Maghenem and R. G. Sanfelice} } @conference {198, title = {Characterization of Safety and Conditional Invariance for Nonlinear Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {5039-5044}, author = {M. Maghenem and R. G. Sanfelice} } @conference {197, title = {Multiple barrier function certificates for forward invariance in hybrid inclusions}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {2346-2351}, author = {M. Maghenem and R. G. Sanfelice} } @conference {196, title = {An Algorithm to Generate Solutions to Hybrid Dynamical Systems with Inputs}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {2996-3001}, author = {P. Bernard and R. G. Sanfelice} } @conference {195, title = {Asymptotic Stability of Limit Cycles in Hybrid Systems with Explicit Logic States}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {2340-2345}, author = {X. Lou and R. G. Sanfelice} } @conference {194, title = {Adaptive Backstepping of Synergistic Hybrid Feedbacks with Application to Obstacle Avoidance}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {1730-1735}, author = {P. Casau and R. G. Sanfelice and C. Silvestre} } @conference {193, title = {Asymptotically Stabilizing Model Predictive Control for Hybrid Dynamical Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {3630-3635}, author = {B. Altin and R. G. Sanfelice} } @conference {192, title = {A Moving Target Defense to Detect Stealthy Attacks in Cyber-Physical Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {391-396}, author = {J. Giraldo and A. Cardenas and R. G. Sanfelice} } @conference {191, title = {A Robust Hybrid Heavy Ball Algorithm, for Optimization with High Performance}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {151-156}, author = {D. Hustig-Schultz and R. G. Sanfelice} } @conference {187, title = {State Estimation of Linear Systems over a Network subject to Sporadic Measurements and Time-Delays}, booktitle = {Proceedings of the IFAC Workshop on Distributed Estimation and Control of Networked Systems}, year = {2018}, month = {August}, pages = {313-318}, author = {M. Guarro and F. Ferrante and R. G. Sanfelice} } @conference {186, title = {A Hybrid Control Algorithm for Object Grasping Using Multiple Agents}, booktitle = {Proceedings of the Conference on Control Technology and Applications}, series = {NULL}, year = {2018}, month = {August}, pages = {652-657}, author = {H. Han and R. G. Sanfelice} } @conference {184, title = {A Hybrid {PID} Design for Asymptotic Stabilization with Intermittent Measurements}, booktitle = {Proceedings of the 2018 IEEE Conference on Decision and Control}, year = {2018}, month = {December}, pages = {737-742}, author = {D. Lavell and S. Phillips and R. G. Sanfelice} } @conference {183, title = {Barrier Function Certificates for Forward Invariance in Hybrid Inclusions}, booktitle = {Proceedings of the 2018 IEEE Conference on Decision and Control}, year = {2018}, month = {December}, pages = {759-764}, author = {M. Maghenem and R. G. Sanfelice} } @conference {182, title = {Observers for Hybrid Dynamical Systems with Linear Maps and Known Jump Times}, booktitle = {Proceedings of the 2018 IEEE Conference on Decision and Control}, year = {2018}, month = {December}, pages = {3140-3145}, author = {P. Bernard and R. G. Sanfelice} } @conference {181, title = {Cost Evaluation for Hybrid Inclusions: A {L}yapunov Approach}, booktitle = {Proceedings of the 2018 IEEE Conference on Decision and Control}, year = {2018}, month = {December}, pages = {855-860}, author = {F. Ferrante and R. G. Sanfelice} } @conference {180, title = {Applications of convex analysis to consensus algorithms, pointwise asymptotic stability, and its robustness}, booktitle = {Proceedings of the 2018 IEEE Conference on Decision and Control}, year = {2018}, month = {December}, pages = {2378-2383}, author = {R. Goebel and R. G. Sanfelice} } @conference {179, title = {A Model Predictive Control Framework for Hybrid Systems}, booktitle = {Proceedings of the 6th IFAC Conference on Nonlinear Model Predictive Control (NMPC)}, volume = {51}, year = {2018}, month = {August}, pages = {128-133}, author = {B. Altin and P. Ojaghi and R. G. Sanfelice} } @conference {176, title = {Sufficient Conditions for Temporal Logic Specifications in Hybrid Dynamical Systems}, booktitle = {Proceedings of the 6th Analysis and Design of Hybrid Systems}, volume = {51}, year = {2018}, month = {July}, pages = {97-102}, author = {H. Han and R. G. Sanfelice} } @conference {175, title = {Robust Hybrid Global Asymptotic Stabilization of Rigid Body Dynamics using Dual Quaternions}, booktitle = {2018 AIAA SciTech Forum-Guidance, Navigation, and Control Conference}, year = {2018}, month = {01/2018}, pages = {1-10}, author = {B. P. Malladi and E. Butcher and R. G. Sanfelice} } @conference {174, title = {Robust Hybrid Supervisory Control for a 3-DOF Spacecraft in Close-Proximity Operations}, booktitle = {Networked \& Autonomous Air \& Space Systems}, year = {2018}, month = {06/2018}, pages = {88-93}, author = {G. Zucchini and B. P. Malladi and R. G. Sanfelice and E. Butcher} } @conference {173, title = {Hybrid Control for Autonomous Spacecraft Rendezvous Proximity Operations and Docking}, booktitle = {IFAC Workshop on Networked \& Autonomous Air \& Space Systems (NAASS)}, year = {2018}, month = {June}, pages = {94-99}, author = {J. R. Crane and C. W. T. Roscoe and B. P. Malladi and G. Zucchini and E. Butcher and R. G. Sanfelice and I. Hussein} } @conference {172, title = {A Hybrid Predictive Control Approach to Trajectory Tracking for a Fully Actuated Biped}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {3526-3531}, author = {B. Short and R. G. Sanfelice} } @conference {171, title = {Model Predictive Control under Intermittent Measurements due to Computational Constraints: Feasibility, Stability, and Robustness}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {1418-1423}, author = {B. Altin and R. G. Sanfelice} } @conference {170, title = {On Robustness of Pre-Asymptotic Stability to Delayed Jumps in Hybrid Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {2204-2209}, author = {B. Altin and R. G. Sanfelice} } @conference {169, title = {Robust Hybrid Kalman Filter for a Class of Nonlinear Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {628-633}, author = {B. P. Malladi and R. G. Sanfelice and E. Butcher} } @conference {168, title = {On the Optimality of Lyapunov-Based Feedback Laws for Constrained Difference Inclusions}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {3435-3440}, author = {F. Ferrante and R. G. Sanfelice} } @conference {167, title = {A Hybrid Adaptive Feedback Law for Robust Obstacle Avoidance and Coordination in Multiple Vehicle Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {616-621}, author = {J. I. Poveda and M. Benosman and A. R. Teel and R. G. Sanfelice} } @conference {166, title = {Robust Exponential Stability of an Intermittent Transmission State Estimation Protocol}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {622-627}, author = {S. Phillips and R. S. Erwin and R. G. Sanfelice} } @conference {165, title = {Stealthy Attacks in Cloud-Connected (Linear-Impulsive) Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {146-152}, author = {A. Duz and S. Phillips and A. Fagiolini and R. G. Sanfelice and F. Pasqualetti} } @conference {164, title = {Hybrid Regional Stabilization of Linear Systems with Actuator Saturation and Multi-Rate Samplers}, booktitle = {Proceedings of the European Control Conference}, year = {2018}, month = {November}, pages = {1-6}, author = {F. Ferrante and R. G. Sanfelice and S. Tarbouriech} } @conference {162, title = {Hybrid Attack Monitor Design to Detect Recurrent Attacks in a Class of Cyber-Physical Systems}, booktitle = {Proceedings of the 2017 IEEE Conference on Decision and Control}, series = {NULL}, year = {2017}, month = {December}, pages = {1368-1373}, author = {S. Phillips and A. Duz and F. Pasqualetti and R. G. Sanfelice} } @conference {161, title = {Notions and a Passivity Tool for Switched DAE Systems}, booktitle = {Proceedings of the 2017 IEEE Conference on Decision and Control}, series = {NULL}, year = {2017}, month = {December}, pages = {3612-3617}, author = {P. Nanez and R. G. Sanfelice and N. Quijano} } @conference {160, title = {Hybrid Robust Minimum-time Control for a Class of Non-Exponentially Unstable Planar Systems}, booktitle = {Proceedings of the 2017 IEEE Conference on Decision and Control}, series = {NULL}, year = {2017}, month = {December}, pages = {139-144}, author = {F. Ferrante and R. G. Sanfelice} } @conference {159, title = {Hybrid Feedback for Global Asymptotic Stabilization on a Compact Manifold}, booktitle = {Proceedings of the 2017 IEEE Conference on Decision and Control}, series = {NULL}, year = {2017}, month = {December}, pages = {2384-2389}, author = {P. Casau and R. Cunha and R. G. Sanfelice and C. Silvestre} } @conference {158, title = {Analysis and Design of Event-triggered Control Algorithms using Hybrid Systems Tools}, booktitle = {Proceedings of the 2017 IEEE Conference on Decision and Control}, series = {NULL}, year = {2017}, month = {December}, pages = {6057-6062}, author = {J. Chai and P. Casau and R. G. Sanfelice} } @conference {157, title = {A Hybrid Predictive Control Algorithm for Tracking in a Single-Phase DC/AC Inverter}, booktitle = {Proceedings of the IEEE Conference on Control Technology and Applications}, series = {NULL}, year = {2017}, month = {August}, pages = {904-909}, author = {L. Torquati and R. G. Sanfelice and L. Zaccarian} } @conference {151, title = {Existence of hybrid limit cycles and {Z}hukovskii stability in hybrid systems}, booktitle = {Proceedings of the American Control Conference}, year = {2017}, month = {May}, pages = {1187-1192}, author = {X. Lou and Y. Li and R. G. Sanfelice} } @conference {150, title = {On Asymptotic Synchronization of Interconnected Hybrid Systems with Applications}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2017}, month = {May}, pages = {2291-2296}, author = {S. Phillips and R. G. Sanfelice} } @conference {149, title = {On Robust Forward Invariance of Sets for Hybrid Dynamical Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2017}, month = {May}, pages = {1199-1204}, author = {J. Chai and R. G. Sanfelice} } @conference {148, title = {Sufficient Conditions for Asymptotic Stability and Feedback Control of Set Dynamical Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2017}, month = {May}, pages = {1923-1928}, author = {N. Risso and R. G. Sanfelice} } @conference {144, title = {Detectability and Invariance Properties for Set Dynamical Systems}, booktitle = {Proceedings of 10th IFAC Symposium on Nonlinear Control Systems}, volume = {49}, number = {18}, year = {2016}, month = {August}, pages = {1030-1035}, author = {N. Risso and R. G. Sanfelice} } @conference {143, title = {Notions and Sufficient Conditions for Pointwise Asymptotic Stability in Hybrid Systems}, booktitle = {Proceedings of 10th IFAC Symposium on Nonlinear Control Systems}, volume = {49}, number = {18}, year = {2016}, month = {August}, pages = {140-145}, author = {R. Goebel and R. G. Sanfelice} } @conference {142, title = {Robust Hybrid Supervisory Control for Rendezvous and Docking of a Spacecraft}, booktitle = {In Proceedings of the Conference on Decision and Control}, year = {2016}, month = {December}, pages = {3325-3330}, author = {B. P. Malladi and R. G. Sanfelice and E. Butcher and J. Wang} } @conference {141, title = {Results on invariance-based feedback control for hybrid dynamical systems}, booktitle = {Proceedings of the 55th IEEE Conference on Decision and Control}, year = {2016}, month = {December}, pages = {622-627}, author = {J. Chai and R. G. Sanfelice} } @conference {140, title = {A Hybrid Consensus Protocol for Pointwise Exponential Stability with Intermittent Information}, booktitle = {Proceedings of 10th IFAC Symposium on Nonlinear Control Systems}, year = {2016}, pages = {146--151}, author = {S. Phillips and Y. Li and R. G. Sanfelice} } @conference {139, title = {On Distributed Observers for Linear Time-invariant Systems Under Intermittent Information Constraints}, booktitle = {Proceedings of 10th IFAC Symposium on Nonlinear Control Systems}, year = {2016}, pages = {654--659}, author = {Y. Li and S. Phillips and R. G. Sanfelice} } @conference {135, title = {Robust Asymptotic Stabilization of Hybrid Systems using Control Lyapunov Functions}, booktitle = {Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control}, year = {2016}, month = {April}, pages = {235--244 }, author = {R. G. Sanfelice} } @conference {134, title = {A Computationally Tractable Implementation of Pointwise Minimum Norm State-Feedback Laws for Hybrid Systems}, booktitle = {Proceedings of American Control Conference}, year = {2016}, pages = {4257--4262}, author = {R. G. Sanfelice} } @conference {133, title = {Exponential Stabilization of a Vectored-Thrust Vehicle Using Synergistic Potential Functions}, booktitle = {Proceedings of American Control Conference}, year = {2016}, pages = {6042--6047}, author = {P. Casau and C. G. Mayhew and R. G. Sanfelice and C. Silvestre} } @conference {131, title = {Robust Synchronization of Interconnected Linear Systems over Intermittent Communication Networks}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2016}, pages = {5575--5580}, abstract = {

The property of synchronization of multiple identical linear time-invariant (LTI) systems connected through a graph in a network with stochastically-driven isolated communication events is studied. More precisely, the goal is to design a feedback controller that, using information obtained over such networks, asymptotically drives the values of their states to synchronization and render the synchronization condition Lyapunov stable. To solve this problem, we propose a controller with hybrid dynamics, namely, the controller exhibits continuous dynamics between communication events while it has variables that jump at such events. Due to the additional continuous and discrete dynamics inherent to the networked systems and communication structure, we use a hybrid systems framework to model the closed-loop system and design the controller. The problem of synchronization is then recast as a compact set stabilization problem and, by employing Lyapunov stability tools for hybrid systems, sufficient conditions for asymptotic stability of the synchronization set are provided. Furthermore, we show that synchronization property is robust to a class of perturbations on the transmitted data. Numerical examples illustrate the main results.\ 

}, author = {S. Phillips and R. G. Sanfelice} } @conference {130, title = {Results on Finite Time Stability for A Class of Hybrid Systems}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2016}, pages = {4263--4268}, author = {Y. Li and R. G. Sanfelice} } @conference {129, title = {A Decentralized Consensus Algorithm for Distributed State Observers with Robustness Guarantees}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2016}, pages = {1876--1881}, author = {Y. Li and R. G. Sanfelice} } @conference {128, title = {Autonomous Waypoint Transitioning and Loitering for Unmanned Aerial Vehicles via Hybrid Control}, booktitle = {Proceedings of AIAA Guidance, Navigation and Control Conference}, series = {NULL}, year = {2016}, author = {D. W. Smith and R. G. Sanfelice} } @conference {126, title = {How well-posedness of hybrid systems can extend beyond Zeno times}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2016}, pages = {598--603}, author = {R. Goebel and R. G. Sanfelice} } @conference {124, title = {Solution of a {R}iccati equation for the design of an observer contracting a {R}iemannian distance}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2015}, month = {December}, pages = {4996--5001}, author = {R. G. Sanfelice and L. Praly} } @conference {123, title = {A Hybrid Observer with a Continuous Intersample Injection in the Presence of Sporadic Measurements}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2015}, month = {December}, pages = {5654--5659}, author = {F. Ferrante and F. Gouaisbaut and R. G. Sanfelice and S. Tarbouriech} } @conference {122, title = {On Necessary and Sufficient Conditions for Incremental Stability of Hybrid Systems using the Graphical Distance between Solutions}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2015}, month = {December}, pages = {5575--5580}, author = {Y. Li and R. G. Sanfelice} } @conference {121, title = {Constructing distance functions and piecewise quadratic Lyapunov functions for stability of hybrid trajectories}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2015}, month = {December}, pages = {2252--2257}, author = {J. J. B. Biemond and W. P. M. H. Heemels and R. G. Sanfelice and N. V. D. Wouw} } @conference {120, title = {On Notions and Sufficient Conditions for Forward Invariance of Sets for Hybrid Dynamical Systems}, booktitle = {Proceedings of the 54th IEEE Conference on Decision and Control}, series = {NULL}, year = {2015}, month = {December}, pages = {2869-2874}, author = {J. Chai and R. G. Sanfelice} } @conference {119, title = {Robust Synchronization of Two Linear Systems over Intermittent Communication Networks}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2015}, month = {December}, pages = {5569--5574}, author = {S. Phillips and R. G. Sanfelice} } @conference {118, title = {Results on Stability and Robustness of Hybrid Limit Cycles for A Class of Hybrid Systems}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2015}, month = {December}, pages = {2235--2240}, author = {X. Lou and Y. Li and R. G. Sanfelice} } @conference {117, title = {Hybrid Feedback Control Methods for Robust and Global Power Conversion}, booktitle = {Proceedings of the 5th Analysis and Design of Hybrid Systems}, series = {NULL}, year = {2015}, month = {October}, pages = {298-303}, author = {J. Chai and R. G. Sanfelice} } @conference {116, title = {On Robust Stability of Limit Cycles for Hybrid Systems With Multiple Jumps}, booktitle = {Proceedings of the 5th Analysis and Design of Hybrid Systems}, series = {NULL}, year = {2015}, month = {October}, pages = {199--204}, author = {X. Lou and Y. Li and R. G. Sanfelice} } @conference {115, title = {An Open-Source Architecture for Control and Coordination of a Swarm of Micro-Quadrotors}, booktitle = {Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS)}, series = {NULL}, year = {2015}, month = {June}, pages = {139--146}, author = {M. Furci and G. Casadei and R. Naldi and R. G. Sanfelice and L. Marconi} } @conference {109, title = {Invariance Principles for Switched Differential-Algebraic Systems Under Arbitrary and Dwell-time Switching}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2015}, month = {June}, pages = {1788--1793}, keywords = {hybrid systems}, author = {P. Nanez and R. G. Sanfelice and N. Quijano} } @conference {108, title = {Observer-based Control Design for Linear Systems in the Presence of Limited Measurement Streams and Intermittent Input Access}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2015}, month = {June}, pages = {4689-4694}, keywords = {hybrid systems, observers}, author = {F. Ferrante and F. Gouaisbaut and R. G. Sanfelice and S. Tarbouriech} } @conference {107, title = {Global Exponential Stabilization on the $n$-Dimensional Sphere}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2015}, month = {June}, pages = {3218--3223}, keywords = {attitude control, hybrid systems}, author = {P. Casau and C. G. Mayhew and R. G. Sanfelice and C. Silvestre} } @conference {106, title = {A Hybrid Model Predictive Controller for Path Planning and Path Following}, booktitle = {ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS)}, year = {2015}, pages = {139-148 }, author = {K. Zhang and J. Sprinkle and R. G. Sanfelice} } @conference {102, title = {Results on Incremental Stability for a Class of Hybrid Systems}, booktitle = {Proceedings of the 53rd IEEE Conference on Decision and Control}, series = {NULL}, year = {2014}, month = {December}, pages = {3089--3094}, abstract = {

Incremental stability is the notion that the distance between every pair of solutions to the system has stable behavior and approaches zero asymptotically. This paper introduces this notion for a class of hybrid systems. In particular, we define incremental stability as well as incremental partial stability, and study their properties. The approach used to derive our results consists of recasting the incremental stability problem as a set stabilization problem, for which the tools for asymptotic stability of hybrid systems are applicable. In particular, we propose an auxiliary hybrid system to study the stability of the diagonal set, which relates to incremental stability of the original system. The proposed notions are illustrated in examples throughout the paper.

}, keywords = {hybrid systems}, author = {Y. Li and S. Phillips and R. G. Sanfelice} } @conference {101, title = {A Hybrid Controller for Global Uniform Exponential Stabilization of Linear Systems with Singular Input Constraints}, booktitle = {Proceedings of the Conference on Decision and Control}, series = {NULL}, year = {2014}, month = {December}, pages = {741--746}, keywords = {attitude control, hybrid systems}, author = {P. Casau and R. G. Sanfelice and C. Silvestre} } @conference {99, title = {Asymptotic Properties of Solutions to Set Dynamical Systems}, booktitle = {Proceedings of the Conference on Decision and Control}, series = {NULL}, year = {2014}, month = {December}, pages = {2287--2292}, author = {R. G. Sanfelice} } @conference {98, title = {A Symbolic Simulator for Hybrid Equations}, booktitle = {Proceedings of SummerSim}, series = {NULL}, year = {2014}, keywords = {simulation}, author = {P. Nanez and N. Risso and R. G. Sanfelice} } @conference {97, title = {An Observer with Measurement-triggered Jumps for Linear Systems with Known Input}, booktitle = {Proceedings of the 19th IFAC World Congress}, series = {NULL}, year = {2014}, pages = {140--145}, keywords = {observers}, author = {F. Ferrante and F. Gouaisbaut and R. G. Sanfelice and S. Tarbouriech} } @conference {95, title = {Robust Distributed State Observers with Performance Guarantees and Optimized Communication Graph}, booktitle = {Proceedings of the 2014 American Control Conference}, series = {NULL}, year = {2014}, pages = {1090-1095}, keywords = {observers}, author = {Y. Li and R. G. Sanfelice} } @conference {94, title = {An Invariance Principle for Differential-Algebraic Equations with Jumps}, booktitle = {Proceedings of the 2014 American Control Conference}, series = {NULL}, year = {2014}, pages = {1426-1431}, keywords = {hybrid systems}, author = {P. Nanez and R. G. Sanfelice} } @conference {93, title = {A Framework for Modeling and Analysis of Robust Stability for Spiking Neurons}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2014}, month = {June}, pages = {1414-1419}, keywords = {hybrid systems}, author = {S. Phillips and R. G. Sanfelice} } @conference {92, title = {Sufficient Conditions for Passivity and Stability of Interconnections of Hybrid Systems using Sums of Storage Functions}, booktitle = {Proceedings of the 2014 American Control Conference}, series = {NULL}, year = {2014}, pages = {1432-1437}, keywords = {hybrid systems}, author = {R. Naldi and R. G. Sanfelice} } @conference {91, title = {A Robust Hybrid Control Algorithm for a Single-Phase DC/AC Inverter with Variable Input Voltage}, booktitle = {Proceedings of the 2014 American Control Conference}, series = {NULL}, year = {2014}, pages = {1420-1425}, keywords = {hybrid systems}, author = {J. Chai and R. G. Sanfelice} } @conference {90, title = {A Hybrid Feedback Controller for Robust Global Trajectory Tracking of Quadrotor-like Vehicles with Minimized Attitude Error}, booktitle = {Proceedings of the 2014 IEEE International Conference on Robotics and Automation}, series = {NULL}, year = {2014}, month = {June}, pages = {6272--6277}, keywords = {attitude control}, author = {P. Casau and R. G. Sanfelice and R. Cunha and D. Cabecinhas and C. Silvestre} } @conference {87, title = {Local linearization method in the integration of multibody equations}, booktitle = {Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics}, series = {NULL}, year = {2013}, keywords = {simulation}, author = {G. Gil and R. G. Sanfelice and P. E. Nikravesh} } @conference {86, title = {Numerical integration scheme using singular perturbation method}, booktitle = {Proceedings of the ASME 2013 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference}, series = {NULL}, year = {2013}, keywords = {simulation}, author = {G. Gil and R. G. Sanfelice and P. E. Nikravesh} } @conference {85, title = {Pointwise Minimum-norm Control Laws for Hybrid Systems}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2013}, pages = {2665{\textendash}2670}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/85.pdf}, author = {R. G. Sanfelice} } @conference {84, title = {A Robust Finite-time Convergent Hybrid Observer for Linear Systems}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2013}, pages = {3349{\textendash}3354}, keywords = {observers}, url = {https://hybrid.soe.ucsc.edu/files/preprints/84.pdf}, author = {Y. Li and R. G. Sanfelice} } @conference {83, title = {On the Stability of Hybrid Limit Cycles and Isolated Equilibria in a Genetic Network with Binary Hysteresis}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2013}, pages = {4080{\textendash}4085}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/83.pdf}, author = {Q. Shu and R. G. Sanfelice} } @conference {82, title = {Hybrid Control of the Boost Converter: {R}obust Global Stabilization}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2013}, pages = {3635{\textendash}3640}, keywords = {hybrid systems}, author = {T. A. F. Theunisse and J. Chai and R. G. Sanfelice and W. P. M. H. Heemels} } @conference {81, title = {Global Trajectory Tracking for Underactuated {VTOL} Aerial Vehicles using Cascade Control Paradigms}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2013}, pages = {4212{\textendash}4217}, keywords = {attitude control}, author = {R. Naldi and M. Furci and R. G. Sanfelice and L. Marconi} } @conference {80, title = {A Hybrid Model of a Genetic Regulatory Network in Mammalian Sclera}, booktitle = {Proceedings of the Hybrid Systems and Biology Workshop}, series = {NULL}, year = {2013}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/80.pdf}, author = {Q. Shu and C. Ardilla and R. G. Sanfelice and J. P. Vande Geest} } @conference {79, title = {Juggling On A Bouncing Ball Apparatus Via Hybrid Control}, booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems}, series = {NULL}, year = {2013}, pages = {1848{\textendash}1853}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/79.pdf}, author = {X. Tian and J. H. Koessler and R. G. Sanfelice} } @conference {78, title = {Suboptimality Bounds for Linear Quadratic Problems in Hybrid Linear Systems}, booktitle = {Proceedings of the European Control Conference}, series = {NULL}, year = {2013}, pages = {2663{\textendash}2668}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/78.pdf}, author = {Y. Kouhi and N. Bajcinca and R. G. Sanfelice} } @conference {76, title = {Optimal Lunar Landing and Retargeting using a Hybrid Control Strategy}, booktitle = {Proceedings of AAS/AIAA Space Flight Mechanics Meeting}, series = {NULL}, year = {2013}, month = {February}, keywords = {hybrid systems}, author = {D.R. Wibben and R. Furfaro and R. G. Sanfelice} } @conference {74, title = {A Toolbox for Simulation of Hybrid Systems in {M}atlab/{S}imulink: {H}ybrid {E}quations ({HyEQ}) {T}oolbox}, booktitle = {Proceedings of Hybrid Systems: Computation and Control Conference}, series = {NULL}, year = {2013}, pages = {101{\textendash}106}, keywords = {simulation}, doi = {http://doi.org/tz9}, url = {https://hybrid.soe.ucsc.edu/files/preprints/74.pdf}, author = {R. G. Sanfelice and D. A. Copp and P. Nanez} } @conference {73, title = {A Coupled Pair of {L}uenberger Observers for Linear Systems to Improve Rate of Convergence and Robustness to Measurement Noise}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2013}, month = {June}, pages = {2503{\textendash}2508}, keywords = {observers}, url = {https://hybrid.soe.ucsc.edu/files/preprints/73.pdf}, author = {Y. Li and R. G. Sanfelice} } @conference {72, title = {Results on the Asymptotic Stability Properties of Desynchronization in Impulse-coupled Oscillators}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2013}, month = {June}, pages = {3278{\textendash}3283}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/72.pdf}, author = {S. Phillips and R. G. Sanfelice} } @conference {71, title = {Global Trajectory Tracking for a Class of Underactuated Vehicles}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2013}, month = {June}, pages = {419{\textendash}424}, keywords = {attitude control}, url = {https://hybrid.soe.ucsc.edu/files/preprints/71.pdf}, author = {P. Casau and R. G. Sanfelice and R. Cunha and D. Cabecinhas and C. Silvestre} } @conference {66, title = {A Landmark-Based Controller for Global Asymptotic Stabilization on {SE(3)}}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2012}, pages = {496{\textendash}501}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6426535}, url = {https://hybrid.soe.ucsc.edu/files/preprints/66.pdf}, author = {P. Casau and R. G. Sanfelice and R. Cunha, C. Silvestre} } @conference {64, title = {Tracking control of mechanical systems with a unilateral position constraint inducing dissipative impacts}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2012}, pages = {4223{\textendash}4228}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6426527}, url = {https://hybrid.soe.ucsc.edu/files/preprints/64.pdf}, author = {J. J. B. Biemond and N. van de Wouw and W. P. M. H. Heemels and R. G. Sanfelice and H. Nijmeijer} } @conference {63, title = {Switching System Model for Pinpoint Lunar Landing Guidance Using a Hybrid Control Strategy}, booktitle = {Proceedings of the AIAA Guidance, Navigation, and Control Conference}, series = {NULL}, year = {2012}, keywords = {hybrid systems}, doi = {http://arc.aiaa.org/doi/abs/10.2514/6.2012-4919}, url = {https://hybrid.soe.ucsc.edu/files/preprints/63.pdf}, author = {D. R. Wibben and R. Furfaro and R. G. Sanfelice} } @conference {62, title = {Self-Triggering in Nonlinear Systems: A Small Gain Theorem Approach}, booktitle = {Proceedings of the 20th Mediterranean Conference on Control and Automation}, series = {NULL}, year = {2012}, pages = {941{\textendash}947}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/62.pdf}, author = {D. Tolic and R. G. Sanfelice and R. Fierro} } @conference {61, title = {On the Synchronization of Two Impulsive Oscillators under Communication Constraints}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2012}, pages = {2443{\textendash}2448}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=6315647}, url = {https://hybrid.soe.ucsc.edu/files/preprints/61.pdf}, author = {S. Phillips and R. G. Sanfelice and R. S. Erwin} } @conference {60, title = {On the Effect and Robustness of Zero-crossing Detection Algorithms in Simulation of Hybrid Systems Jumping on Surfaces}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2012}, pages = {2449{\textendash}2454}, keywords = {simulation}, url = {https://hybrid.soe.ucsc.edu/files/preprints/60.pdf}, author = {D. A. Copp and R. G. Sanfelice} } @conference {59, title = {Attitude Control for Optimal Generation of Energy From Multiple Energy Sources}, booktitle = {Proceedings of the ASEE Conference}, series = {NULL}, year = {2012}, address = {Chicago, IL}, keywords = {attitude control}, author = {M. Robles and R. G. Sanfelice and G. Campa} } @conference {55, title = {Passivity-based Controllers for a Class of Hybrid Systems with Applications to Mechanical Systems Interacting with their Environment}, booktitle = {Proc. Joint Conference on Decision and Control and European Control Conference}, series = {NULL}, year = {2011}, pages = {7416{\textendash}7421}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6161066\&tag=1}, url = {https://hybrid.soe.ucsc.edu/files/preprints/55.pdf}, author = {R. Naldi and R. G. Sanfelice} } @conference {54, title = {Further results on synergistic {L}yapunov functions and hybrid feedback design through backstepping}, booktitle = {Proc. Joint Conference on Decision and Control and European Control Conference}, series = {NULL}, year = {2011}, pages = {7428{\textendash}7433}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6161283}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {51, title = {Tracking Control for Hybrid Systems via Embedding of Known Reference Trajectories}, booktitle = {Proc. 30th American Control Conference}, series = {NULL}, year = {2011}, pages = {869{\textendash}874}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5991500}, url = {https://hybrid.soe.ucsc.edu/files/preprints/51.pdf}, author = {R. G. Sanfelice and J. J. B. Biemond and N. van de Wouw and W. P. M. H. Heemels} } @conference {49, title = {Synergistic {L}yapunov functions and backstepping hybrid feedbacks}, booktitle = {Proc. 30th American Control Conference}, series = {NULL}, year = {2011}, pages = {3203{\textendash}3208}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5991021}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {48, title = {On the Non-Robustness of Memoryless Path-Lifting Schemes for Quaternion-Based Attitude Control}, booktitle = {Proc. 30th American Control Conference}, series = {NULL}, year = {2011}, pages = {1003{\textendash}1008}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5991359}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {47, title = {On Quaternion-Based Attitude Control and the Unwinding Phenomenon}, booktitle = {Proc. 30th American Control Conference}, series = {NULL}, year = {2011}, pages = {299{\textendash}304}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5991127}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {46, title = {Hybrid Controllers for Tracking of Impulsive Reference Trajectories: A Hybrid Exosystem Approach}, booktitle = {Proc. 14th International Conference Hybrid Systems: Control and Computation}, series = {NULL}, year = {2011}, pages = {231{\textendash}240}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/46.pdf}, author = {M. Robles and R. G. Sanfelice} } @conference {44, title = {Results on Input-to-Output and Input-Output-to-State Stability for Hybrid Systems and their Interconnections}, booktitle = {Proc. 49th IEEE Conference on Decision and Control}, series = {NULL}, year = {2010}, pages = {2396{\textendash}2401}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/5707200/5716927/05718164.pdf?arnumber=5718164}, url = {https://hybrid.soe.ucsc.edu/files/preprints/44.pdf}, author = {R. G. Sanfelice} } @conference {43, title = {A Technical Result for the Study of High-gain Observers with Nonmonotonic Dynamic Gain}, booktitle = {Proc. NOLCOS 2010}, series = {NULL}, year = {2010}, pages = {284{\textendash}289}, keywords = {observers}, author = {R. G. Sanfelice and L. Praly} } @conference {42, title = {Uniting Two Output-Feedback Hybrid Controllers with Different Objectives}, booktitle = {Proc. 29th American Control Conference}, series = {NULL}, year = {2010}, pages = {910{\textendash}915}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=5530480}, url = {https://hybrid.soe.ucsc.edu/files/preprints/42.pdf}, author = {R. G. Sanfelice and C. Prieur} } @conference {41, title = {Robust Global Asymptotic Attitude Synchronization by Hybrid Control}, booktitle = {Proc. 29th American Control Conference}, series = {NULL}, year = {2010}, pages = {3666{\textendash}3671}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=5530428}, author = {C. G. Mayhew and R. G. Sanfelice and M. Arcak and A. R. Teel} } @conference {39, title = {Nonlinear Observer Design with an Appropriate {R}iemannian Metric}, booktitle = {Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference}, series = {NULL}, year = {2009}, pages = {6514{\textendash}6519}, abstract = {

An observer whose state lives in the same space as the one of the given system and which guarantees a vanishing estimation error exhibits necessarily a symmetric matrix field which is related to the local observability information. A direct construction of this matrix field is possible by solving off-line ordinary differential equations. Using this symmetric matrix field as a Riemannian metric, we prove that geodesic convexity of the level sets of the output function is sufficient to allow the construction of an observer that contracts the geodesic distance between the estimated state and the system{\textquoteright}s state, globally in the estimated state and semi-globally in the estimation error.

}, keywords = {observers}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=5400714}, author = {R. G. Sanfelice and L. Praly} } @conference {38, title = {Robust Global Asymptotic Attitude Stabilization of a Rigid Body by Quaternion-based Hybrid Feedback}, booktitle = {Proc. 46th Conference on Decision and Control}, series = {NULL}, year = {2009}, pages = {2522{\textendash}2527}, abstract = {Global asymptotic stabilization of the attitude of a rigid body is made difficult by several topological obstructions. In fact, this task is impossible to accomplish with discontinuous state feedback. Moreover, when the attitude is parameterized with unit quaternions, it becomes impossible to design a globally stabilizing state feedback (even discontinuous) that is robust to measurement noise. In this paper, we present a quaternion-based hysteretic hybrid feedback that robustly globally asymptotically stabilizes the attitude of a rigid body. The hybrid control laws are derived through Lyapunov analysis in kinematic and dynamic settings. In the dynamic setting, we provide two control laws: one derived from a simple Lyapunov function, and another based on backstepping. Analyzing the change in these Lyapunov functions due to jumps of the hysteretic logic variable yields a straightforward form for state-based hysteretic switching points. A simulation study demonstrates robustness to measurement noise in the proposed control laws and differences between the non-backstepping and backstepping control laws.}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=5400431}, url = {https://hybrid.soe.ucsc.edu/files/preprints/38.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {37, title = {Robust Global Asymptotic Stabilization of a 6-DOF Rigid Body by Quaternion-based Hybrid Feedback}, booktitle = {Proc. 46th Conference on Decision and Control}, series = {NULL}, year = {2009}, pages = {1094{\textendash}1099}, abstract = {The problem of robust, global asymptotic stabilization of a rigid body is hampered by major topological obstructions. These obstructions prevent a continuous state feedback from solving the problem and also lead to robustness issues when discontinuous feedback is applied. In this paper, we extend a hybrid control strategy proposed in a companion paper for robust, global asymptotic stabilization of rigid body attitude to the case where translation is also considered. The quaternion-based hysteretic hybrid feedback laws are developed in the kinematic and dynamic settings. In the dynamic setting, two control laws are derived, one of which is based on backstepping. Robustness to measurement noise is asserted by employing recently developed stability theory for hybrid systems. The hybrid feedback is found to have desirable robustness properties.}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=5400338}, url = {https://hybrid.soe.ucsc.edu/files/preprints/37.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {33, title = {Supervising a family of hybrid controllers for robust global asymptotic stabilization}, booktitle = {Proc. 47th IEEE Conference on Decision and Control}, series = {NULL}, year = {2008}, pages = {4700{\textendash}4705}, abstract = {This paper describes an algorithm for achieving robust, global asymptotic stabilization in nonlinear control systems by supervising the actions of a family of hybrid controllers. The family is such that the regions over which they operate cover the state space in an appropriate sense. Moreover, their behavior is such that they can be scheduled to move the state of the system toward a desirable region, whether it be an equilibrium point or a compact set. In establishing our main result, we use the concept of ?events? for hybrid systems and show that, under mild assumptions, stability of a system without events is preserved when a ?nite number of events are incorporated. The algorithm is applied to robust, global stabilization problems involving vehicle orientation, position and orientation of a mobile robot, and the inverted con?guration of a pendulum.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4739481\&isnumber=4738560}, url = {https://hybrid.soe.ucsc.edu/files/preprints/33.pdf}, author = {R. G. Sanfelice and A. R. Teel and R. Goebel} } @conference {32, title = {Analysis of hybrid systems resulting from hysteresis and saturation: a {L}yapunov approach}, booktitle = {Proc. 47th IEEE Conference on Decision and Control}, series = {NULL}, year = {2008}, pages = {2764{\textendash}2769}, abstract = {This paper studies a class of hybrid systems with linear (or linear plus saturated linear) continuous and discrete dynamics, which are determined by a ?ow map and jump map, and state-triggered jumps. One motivation for considering this class of systems is that they can model control systems with a relay-type hysteresis element. Based on Lyapunov theorems for hybrid systems, a Lyapunov function is constructed that effectively incorporates the feature of the jumps. Global asymptotic stability analysis is presented for the case when the ?ow map is linear, and local asymptotic stability analysis is presented for the case when the ?ow map is linear plus saturated linear. The stability conditions are derived as matrix inequalities. A numerical example is presented to illustrate the hybrid modeling process for a system experiencing hysteresis. Simulations con?rm the effectiveness of the proposed analysis tools and demonstrate the potential of the Lyapunov function.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4739453\&isnumber=4738560}, url = {https://hybrid.soe.ucsc.edu/files/preprints/32.pdf}, author = {D. Dai and R. G. Sanfelice and T. Hu and A. R. Teel} } @conference {31, title = {Optimal Control of Mixed Logical Dynamical Systems with Linear Temporal Logic Specifications}, booktitle = {Proc. 47th IEEE Conference on Decision and Control}, series = {NULL}, year = {2008}, pages = {2117{\textendash}2122}, abstract = {Recently, Linear Temporal Logic (LTL) has been employed as a tool for formal speci?cation in dynamical control systems. With this formal approach, control systems can be designed to provably accomplish a large class of complex tasks speci?ed via LTL. For this purpose, language generating Buchi automata with ?nite abstractions of dynamical systems have been used in the literature. In this paper, we take a mathematical programming-based approach to control of a broad class of discrete-time dynamical systems, called Mixed Logic Dynamical (MLD) systems, with LTL speci?cations. MLDs include discontinuous and hybrid piecewise discrete-time linear systems. We apply these tools for model checking and optimal control of MLD systems with LTL speci?cations. Our algorithms exploit Mixed Integer Linear Programming (MILP) as well as, in the appropriate setting, Mixed Integer Quadratic Programming (MIQP) techniques. Our solution approach introduces a general technique useful in representing LTL constraints as mixed-integer linear constraints}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4739370\&isnumber=4738560}, url = {https://hybrid.soe.ucsc.edu/files/preprints/31.pdf}, author = {S. Karaman and R. G. Sanfelice and E. Frazzoli} } @conference {30, title = {Robust hybrid source-seeking algorithms based on directional derivatives and their approximations}, booktitle = {Proc. 47th IEEE Conference on Decision and Control}, series = {NULL}, year = {2008}, pages = {1735{\textendash}1740}, abstract = {A family of hybrid control algorithms is developed that steer a nonholonomic autonomous vehicle to the source of a scalar signal present in the environment. In an idealized setting, we develop a general hybrid control scheme that globally asymptotically stabilizes the vehicle position about the source. Pursuing a practical implementation, a series of perturbations to the family of controllers is introduced, resulting in a semiglobal practical stability of the vehicle position about the source. An example of a recently developed conjugate direction-based controller ?tting into this family is developed and demonstrated by simulation and experiment.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4739392\&isnumber=4738560}, url = {https://hybrid.soe.ucsc.edu/files/preprints/30.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {28, title = {On robust, global stabilization of the attitude of an underactuated rigid body using hybrid feedback}, booktitle = {Proc. 27th American Control Conference}, series = {NULL}, year = {2008}, pages = {2909{\textendash}2914}, abstract = {A hybrid feedback is developed for robust, global stabilization of the attitude of an underactuated rigid body. For the case where two angular velocities are considered as controls, this objective is achieved. For the case where the two controls are torques, the objective is achieved in a {\textquoteleft}{\textquoteleft}practical" sense, i.e., robust, global asymptotic stability of some arbitrarily small neighborhood of the desired attitude is achieved. To assist with the exposition, a robustly, globally stabilizing hybrid controller is also developed for the case where three angular velocities are considered as controls. This solution provides an alternative to one that has recently appeared in the literature.}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4586937\&isnumber=4586444}, url = {https://hybrid.soe.ucsc.edu/files/preprints/28.pdf}, author = {A. R. Teel and R. G. Sanfelice} } @conference {27, title = {A Nested {M}atrosov Theorem for Hybrid Systems}, booktitle = {Proc. 27th American Control Conference}, series = {NULL}, year = {2008}, pages = {2915{\textendash}2920}, abstract = {We present a sufficient condition for uniform global asymptotic stability of compact sets for hybrid systems. Uniform global asymptotic stability (UGAS {\textendash} in the sense that bounds on the solutions and on the convergence time depend only on the distance to the compact set of interest) are introduced for a large class of hybrid systems which are given by a flow map, flow set, jump map, and jump set. We show that uniform global stability of a compact set plus the existence of Lyapunov-like functions and continuous functions satisfying a nested condition on the flow and jump sets imply uniform global asymptotic stability of the compact set. The required nested condition for hybrid systems turns out to be a combination of the conditions in nested Matrosov theorems for time-varying continuous-time and discrete-time available in the literature. Our result also show that Matrosov{\textquoteright}s theorem are a reasonable alternative to LaSalle{\textquoteright}s invariance principle for time-invariant systems when additional functions with certain decreasing properties are available. We illustrate the application of our main result in several examples, including the so-called bouncing ball system.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4586938\&isnumber=4586444:PDF;SLIDES:Talks/ACC2008-ThB14-5.pdf:PowerPoint}, url = {https://hybrid.soe.ucsc.edu/files/preprints/27.pdf}, author = {R. G. Sanfelice and A. R. Teel} } @conference {26, title = {A Hybrid Control Framework for Robust Maneuver-based motion planning}, booktitle = {Proc. 27th American Control Conference}, series = {NULL}, year = {2008}, pages = {2254{\textendash}2259}, abstract = {We introduce a modeling framework for robustness of maneuver-based motion planning algorithms for nonlinear systems with symmetries. Our framework implements a hybrid controller that robustly combines motion primitives from a pre-defined library. The closed-loop system is viewed as a hybrid system with flows given by a differential equation, jumps given by a difference equation, and two sets where these dynamics are allowed. We show that our hybrid controller for implementation of motion planning algorithms confers to the closed-loop system robustness properties to a large class of perturbations.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4586827\&isnumber=4586444:PDF;SLIDES:Talks/ACC2008-ThA14-2.pdf:PowerPoint}, url = {https://hybrid.soe.ucsc.edu/files/preprints/26.pdf}, author = {R. G. Sanfelice and E. Frazzoli} } @conference {25, title = {Robust global swing-up of the pendubot via hybrid control}, booktitle = {Proc. 27th American Control Conference}, series = {NULL}, year = {2008}, pages = {1424{\textendash}1429}, abstract = {Combining local state-feedback laws and open-loop schedules, we design a hybrid control algorithm for robust global stabilization of the pendubot to the upright configuration (both links straight up with zero velocity). Our hybrid controller performs the swing-up task robustly by executing a decision-making algorithm designed to work under the presence of perturbations. The hybrid control algorithm features logic variables, timers, and hysteresis. We explicitly design the control strategy and implement it in a real pendubot system using Matlab/Simulink with Real-time Workshop. Experimental results show the main capabilities of our hybrid controller.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4586692\&isnumber=4586444:PDF;SLIDES:Talks/ACC2008-WeC05-4.pdf:PowerPoint}, url = {https://hybrid.soe.ucsc.edu/files/preprints/25.pdf}, author = {R. O{\textquoteright}Flaherty and R. G. Sanfelice and A. R. Teel} } @conference {24, title = {Robust source-seeking hybrid controllers for nonholonomic vehicles}, booktitle = {Proc. 27th American Control Conference}, series = {NULL}, year = {2008}, pages = {2722{\textendash}2727}, abstract = {We consider the problem of steering a nonholonomic vehicle to the source of a radiation-like signal with only measurements of the signal. We propose a general control strategy for vehicle steering which is based on an optimization algorithm for minimization of nonlinear functions without gradient information. We state the main properties of the strategy and specialize it to the control of nonholonomic vehicles. We discuss its implementation in a hybrid controller which coordinates vehicle steering and logic elements. We present global convergence and stability results for the closed-loop system. We also discuss two possible modifications to our algorithm that improve its performance when applied to real-world environments.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4586904\&isnumber=4586444}, url = {https://hybrid.soe.ucsc.edu/files/preprints/24.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {23, title = {On the optimality of {D}ubins paths across heterogeneous terrain}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {4981}, year = {2008}, pages = {457-470}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, chapter = {On the optimality of {D}ubins paths across heterogeneous terrain}, abstract = {We derive optimality conditions for the paths of Dubins vehicle when the state space is given by the union of two patches with different vehicle constant forward velocity. We recast this problem as a hybrid optimal control problem and solve it using recent optimality principles for hybrid systems. Among the optimality conditions, we derive a {\textquoteleft}{\textquoteleft}refraction" law at the boundary of the patches which generalizes the so-called Snell{\textquoteright}s law of refraction in optics to the case of paths with bounded maximum curvature.}, keywords = {hybrid systems}, doi = {http://www.springerlink.com/content/c3g1478530540265/fulltext.pdf:PDF;HTML:http\://www.springerlink.com/content/c3g1478530540265/:URL}, url = {https://hybrid.soe.ucsc.edu/files/preprints/23.pdf}, author = {R. G. Sanfelice and E. Frazzoli} } @conference {19, title = {Hybrid {MPC}: Open-minded but not Easily Swayed}, booktitle = {Assessment and Future Directions of Nonlinear Model Predictive Control}, series = {NULL}, volume = {Lecture Notes in Control and Information Sciences 358}, year = {2007}, pages = {17{\textendash}34}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, chapter = {Hybrid {MPC}: Open-minded but not Easily Swayed}, abstract = {The robustness of asymptotic stability with respect to measurement noise for discrete-time feedback control systems is discussed. It is observed that, when attempting to achieve obstacle avoidance or regulation to a disconnected set of points for a continuous-time system using sample and hold state feedback, the noise robustness margin necessarily vanishes with the sampling period. With this in mind, we propose two modifications to standard model predictive control (MPC) to enhance robustness to measurement noise. The modifications involve the addition of dynamical states that make large jumps. Thus, they have a hybrid flavor. The proposed algorithms are well suited for situations where control algorithms must respond quickly to large changes in operating conditions but not be easily confused by moderately large measurement noise and similar disturbances.}, keywords = {hybrid systems}, doi = {http://www.springerlink.com/content/22236583418rr285/fulltext.pdf}, url = {https://hybrid.soe.ucsc.edu/files/preprints/19.pdf}, author = {S. E. Tuna and R. G. Sanfelice and M. J. Messina and A. R. Teel} } @conference {17, title = {A hybrid systems approach to trajectory tracking control for juggling systems}, booktitle = {Proc. 46th IEEE Conference on Decision and Control}, series = {NULL}, year = {2007}, pages = {5282{\textendash}5287}, address = {New Orleans, LA}, abstract = {From a hybrid systems point of view, we provide a modeling framework and a trajectory tracking control design methodology for juggling systems. We present the main ideas and concepts in a one degree-of-freedom juggler, which consists of a ball bouncing on an actuated robot. We design a hybrid control strategy that, with only information of the ball{\textquoteright}s state at impacts, controls the ball to track a reference rhythmic pattern with arbitrary precision. We extend this hybrid control strategy to the case of juggling multiple balls with different rhythmic patterns. Simulation results for juggling of one and three balls with a single actuated robot are presented.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4435010\&isnumber=4434000:PDF;SLIDES:Users/ricardo/public_html.MIT/Talks/CDC2007-FrB04-4.pdf:PowerPoint}, url = {https://hybrid.soe.ucsc.edu/files/preprints/17.pdf}, author = {R. G. Sanfelice and A. R. Teel and R. Sepulchre} } @conference {16, title = {Complex hybrid systems: stability analysis for omega limit sets}, booktitle = {Proc. 26th Chinese Control Conference}, series = {NULL}, year = {2007}, abstract = {This paper focuses on the asymptotic stability properties of omega limit sets for complex hybrid dynamical systems, which are commonly found in systems and engineering. It spells out specific stability results that follow when a hybrid dynamical system has certain structure, e.g., when it admits a decomposition resembling a cascade of hybrid dynamical systems.}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/16.pdf}, author = {C. Cai and R. Goebel and R. G. Sanfelice and A.R. Teel} } @conference {15, title = {Hybrid systems techniques for convergence of solutions to switched systems}, booktitle = {Proc. 46th IEEE Conference on Decision and Control}, series = {NULL}, year = {2007}, pages = {92{\textendash}96}, abstract = {Invariance principles for hybrid systems are used to derive invariance principles for nonlinear switching systems with multiple Lyapunov-like functions. Dwell-time, persistent dwell-time, and weak dwell-time solutions are considered. Asymptotic stability results are deduced under observability assumptions or common bounds on the Lyapunov-like functions.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4435008\&isnumber=4434000}, url = {https://hybrid.soe.ucsc.edu/files/preprints/15.pdf}, author = {R. Goebel and R. G. Sanfelice and A.R. Teel} } @conference {14, title = {{H}ybrid {S}ystems: stability and control}, booktitle = {Proc. 26th Chinese Control Conference}, series = {NULL}, year = {2007}, chapter = {Hybrid systems: limit sets and zero dynamics with a view toward output regulation}, abstract = {We present results on omega-limit sets and minimum phase zero dynamics for hybrid dynamical systems. Moreover, we give pointers to how these results may be useful in the future for solving the output regulation problem for hybrid systems. We highlight the main attributes of omega-limit sets and we show, under mild conditions, that they are asymptotically stable. We define a minimum phase notion in terms of omega-limit sets and establish an equivalent Lyapunov characterization. Then we study the feedback stabilization problem for a class of minimum phase, relative degree one hybrid systems. Finally, we discuss output regulation for this class of hybrid systems. We illustrate the concepts with examples throughout the paper.}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/14.pdf}, author = {C. Cai and R. Goebel and R. G. Sanfelice and A. R. Teel} } @conference {13, title = {A hybrid control strategy for robust contact detection and force regulation}, booktitle = {Proc. 26th American Control Conference}, series = {NULL}, year = {2007}, pages = {1461{\textendash}1466}, abstract = {We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/4282134/4282135/04283119.pdf?tp=\&isnumber=4282135\&arnumber=4283119\&punumber=\%3Cb\%3E\%3Cfont\%20color=990000\%3E4282134\%3C/font\%3E\%3C/b\%3E}, url = {https://hybrid.soe.ucsc.edu/files/preprints/13.pdf}, author = {R. Carloni and R. G. Sanfelice and A. R. Teel and C. Melchiorri} } @conference {12, title = {Robust source seeking hybrid controllers for autonomous vehicles}, booktitle = {Proc. 26th American Control Conference}, series = {NULL}, year = {2007}, pages = {1185{\textendash}1190}, abstract = {

We consider the problem of steering an autonomous vehicle to locate a radiation source utilizing measurements of the radiation intensity only. We propose a control algorithm that locates the source through a sequence of line minimizations of the radiation intensity. We implement in a hybrid controller, with sample-and-hold and logic variables, a discretized version of the algorithm suitable for steering a point-mass vehicle. The algorithm confers global convergence and practical stability properties to the closed-loop hybrid system. We discuss these properties and characterize the region of convergence for the vehicle. Convergence and stability results are supplemented with simulations.

}, keywords = {hybrid systems}, doi = {http://www.scivee.tv/node/2725,http\://ieeexplore.ieee.org/iel5/4282134/4282135/04283016.pdf?tp=\&isnumber=4282135\&arnumber=4283016\&punumber=\%3Cb\%3E\%3Cfont\%20color=990000\%3E4282134\%3C/font\%3E\%3C/b\%3E}, url = {https://hybrid.soe.ucsc.edu/files/preprints/12.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {11, title = {A {\textquoteleft}{\textquoteleft}throw-and-catch" hybrid control strategy for robust global stabilization of nonlinear systems}, booktitle = {Proc. 26th American Control Conference}, series = {NULL}, year = {2007}, pages = {3470{\textendash}3475}, abstract = {We present a control strategy that combines local state feedback laws and open-loop schedules to robustly globally asymptotically stabilize a compact subset (typically a point) of the state space for a nonlinear system. The control algorithm is illustrated on the problem of global stabilization of the upright position of the pendubot and implemented in a hybrid controller containing logic variables and logic rules with hysteresis. We also present the design procedure of the hybrid controller for general nonlinear systems. Recent results in the literature on robustness of asymptotic stability in hybrid systems are used in establishing that the closed-loop system is robust to measurement noise and other external disturbances.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4282778}, url = {https://hybrid.soe.ucsc.edu/files/preprints/11.pdf}, author = {R. G. Sanfelice and A. R. Teel} } @conference {10, title = {On the robustness to measurement noise and unmodeled dynamics of stability in hybrid systems}, booktitle = {Proc. 25th American Control Conference}, series = {NULL}, year = {2006}, pages = {4061{\textendash}4066}, abstract = {

Results on robustness to measurement noise and unmodeled dynamics of stability in hybrid systems are presented. We show that arbitrarily small measurement noise can lead to lack of existence of solutions in hybrid systems. One solution to this problem is to pass the measurements through a filter. Robustness to measurement noise using this filtering is shown explicitly. We also study the effect of unmodeled sensor/actuator dynamics in the closed loop and we demonstrate that stability is robust to a class of singular perturbations. The results are illustrated for the inverted pendulum on a cart system when attempting to globally asymptotically stabilize the inverted position of the pendulum and the neutral cart position.

}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/11005/34689/01657354.pdf?tp=\&arnumber=1657354\&isnumber=34689}, url = {https://hybrid.soe.ucsc.edu/files/preprints/10.pdf}, author = {R. G. Sanfelice and A. R. Teel and R. Goebel and C. Prieur} } @conference {9, title = {{L}yapunov analysis of sample-and-hold hybrid feedbacks}, booktitle = {Proc. 45th IEEE Conference on Decision and Control}, series = {NULL}, year = {2006}, pages = {4879{\textendash}4884}, abstract = {

For hybrid closed-loop systems arising from hybrid control of nonlinear systems, we show that the sampleand-hold implementation of the hybrid controller preserves (semiglobally and practically) the stability properties of the closed-loop system. We provide a general model for the hybrid closed-loop system where the hybrid controller is implemented digitally and it is interfaced to the nonlinear system through sample and hold devices. We model the sample device and the digital controller/hold device as single asynchronous hybrid systems with independent timing constants and data. The main result is established by means of a Lyapunov function for the hybrid closed-loop system resulting from the interconnection of its hybrid and nonlinear subsystems.

}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/4176992/4176993/04177901.pdf?tp=\&isnumber=4176993\&arnumber=4177901\&punumber=\%3Cb\%3E\%3Cfont\%20color=990000\%3E4176992\%3C/font\%3E\%3C/b\%3E}, url = {https://hybrid.soe.ucsc.edu/files/preprints/9.pdf}, author = {R. G. Sanfelice and A. R. Teel} } @conference {8, title = {On the continuity of asymptotically stable compact sets for simulations of hybrid systems}, booktitle = {Proc. 45th IEEE Conference on Decision and Control}, series = {NULL}, year = {2006}, pages = {270{\textendash}275}, abstract = {

We propose a hybrid model for simulations of hybrid systems and we establish conditions on its data so that the asymptotically stable sets observed in simulations are continuous. The most important components of the hybrid model for simulations are a discrete integration scheme for the computation of the flows and an approximated jump mapping for the computation of the jumps. Our main result is built on the facts that, on compact hybrid time domains, every simulation to a hybrid system is arbitrarily close (in the graphical sense) to some solution to the actual hybrid system, and that asymptotically stable compact sets of hybrid systems are semiglobally practically asymptotically stable compact sets for the hybrid model for simulations. We present these results and illustrate them in simulations of the bouncing ball system.

}, keywords = {simulation}, doi = {http://ieeexplore.ieee.org/iel5/4176992/4176993/04177840.pdf?tp=\&isnumber=4176993\&arnumber=4177840\&punumber=\%3Cb\%3E\%3Cfont\%20color=990000\%3E4176992\%3C/font\%3E\%3C/b\%3E:PDF}, url = {https://hybrid.soe.ucsc.edu/files/preprints/8.pdf}, author = {R. G. Sanfelice and A. R. Teel} } @conference {7, title = {Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points}, booktitle = {Proc. 25th American Control Conference}, series = {NULL}, year = {2006}, pages = {3352{\textendash}3357}, abstract = {

We give an elementary proof of the fact that, for continuous-time systems, it is impossible to use (even discontinuous) pure state feedback to achieve robust global asymptotic stabilization of a disconnected set of points or robust global regulation to a target while avoiding an obstacle. Indeed, we show that arbitrarily small, piecewise constant measurement noise can keep the trajectories away from the target. We give a constructive, Lyapunov-based hybrid state feedback that achieves robust regulation in the above mentioned settings.

}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/11005/34689/01657236.pdf?tp=\&isnumber=\&arnumber=1657236}, url = {https://hybrid.soe.ucsc.edu/files/preprints/7.pdf}, author = {R. G. Sanfelice and M. J. Messina and S. E. Tuna and A. R. Teel} } @conference {6, title = {A feedback control motivation for generalized solutions to hybrid systems}, booktitle = {Hybrid Systems: Computation and Control, Lecture Notes in Computer Science 3927}, series = {NULL}, year = {2006}, pages = {522{\textendash}536}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

Several recent results in the area of robust asymptotic stability of hybrid systems show that the concept of a generalized solution to a hybrid system is suitable for the analysis and design of hybrid control systems. In this paper, we show that such generalized solutions are exactly the solutions that arise when measurement noise is present in the system.

}, keywords = {hybrid systems}, doi = {http://www.springerlink.com/content/p1l0517700517248/fulltext.pdf}, url = {https://hybrid.soe.ucsc.edu/files/preprints/6.pdf}, author = {R. G. Sanfelice and R. Goebel and A.R. Teel}, editor = {J. P. Hespanha and A. Tiwari and J. P. Hespanha and A. Tiwari} } @conference {5, title = {On hybrid controllers that induce input-to-state stability with respect to measurement noise}, booktitle = {Proc. 44th IEEE Conference on Decision and Control and European Control Conference}, series = {NULL}, year = {2005}, pages = {4891{\textendash}4896}, abstract = {

For a class of nonlinear systems affine in controls and with unknown high frequency gain, we develop a hybrid control strategy that guarantees (practical) global input-to-state stability (ISS) with respect to measurement noise. We provide a design procedure for the hybrid controller and apply it to Freeman{\textquoteright}s counterexample and minimum-phase relative degree one systems.

}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/10559/33412/01582936.pdf?tp=\&arnumber=1582936\&isnumber=33412}, url = {https://hybrid.soe.ucsc.edu/files/preprints/5.pdf}, author = {R. G. Sanfelice and A. R. Teel} } @conference {4, title = {Results on convergence in hybrid systems via detectability and an invariance principle}, booktitle = {Proc. 24th American Control Conference}, series = {NULL}, year = {2005}, pages = {551{\textendash}556}, abstract = {

Two invariance principles for generalized hybrid systems are presented. One version involves the use of a nonincreasing function, like in the original work of LaSalle. The other version involves {\textquoteleft}{\textquoteleft}meagreness" conditions. These principles characterize asymptotic convergence of bounded hybrid trajectories to weakly invariant sets. A detectability property is used to locate a set in which the Omega-limit set of a trajectory is contained. Next, it is shown how the invariance principles can be used to certify asymptotic stability in hybrid systems. Lyapunov and Krasovskii theorems for hybrid systems are included.

}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/9861/31519/01470014.pdf?tp=\&arnumber=1470014\&isnumber=31519}, url = {https://hybrid.soe.ucsc.edu/files/preprints/4.pdf}, author = {R. G. Sanfelice and R. Goebel and A.R. Teel} } @conference {3, title = {Hybrid systems: generalized solutions and robust stability}, booktitle = {Proc. 6th IFAC Symposium in Nonlinear Control Systems}, series = {NULL}, year = {2004}, pages = {1{\textendash}12}, abstract = {

Robust asymptotic stability for hybrid systems is considered. For this purpose, a generalized solution concept is developed. The first step is to characterize a hybrid time domain that permits an efiient description of the convergence of a sequence of solutions. Graph convergence is used. Then a generalized solution definition is given that leads to continuity with respect to initial conditions and perturbations of the system data. This property enables new results on necessary conditions for asymptotic stability in hybrid systems.

}, keywords = {hybrid systems}, doi = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.61.8882\&rep=rep1\&type=pdf}, url = {https://hybrid.soe.ucsc.edu/files/preprints/3.pdf}, author = {R. Goebel and J.P. Hespanha and A.R. Teel and C. Cai and R. G. Sanfelice} } @conference {1, title = {Novel current control for {AC} motors with low torque ripple}, booktitle = {Proc. IX Workshop on Information Processing and Control RPIC}, series = {NULL}, year = {2001}, abstract = {

In this paper a current-control strategy for AC induction motors is presented, that besides of minimizing the electromagnetic torque ripple in 50\% respect to the two-level hysteresis current-control, reduces the complexity of the same one as far as hardware and software resources. This complexity reduction causes a higher speed response, doesn{\textquoteright}t increase the commutation losses, and minimizes the perturbations and vibrations on the load of the motor. The simulation results and experimentation are analyzed.

}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/1.pdf}, author = {M. Benedetti and J.F. Rovira and R. G. Sanfelice} }