NVIDIA researchers have pioneered an explicit method, position-based dynamics (PBD), for
simulating systems with contact forces, gaining widespread use in computer graphics and …

In this paper, we consider nonlinear control systems and discuss the existence of a
separable control Lyapunov function. To this end, we assume that the system can be …

Hierarchical control is a widely used strategy that can increase resilience and improve the
reliability of the electrical network based on microgrid global variables. The large amounts of …

This paper considers the problem of understanding the behavior of a general class of
accelerated gradient methods on smooth nonconvex functions. Motivated by some recent …

In this paper, we consider nonlinear control systems and discuss the existence of a
separable control Lyapunov function. To this end, we assume that the system can be …

We provide sufficient conditions for instability of the subgradient method with constant step
size around a local minimum of a locally Lipschitz semialgebraic function. They are satisfied …

One of the most important problems in the theory of dynamical systems is the investigation of
the asymptotic behavior of trajectories. To study this problem, there are a number of classical …

Modern data science applications demand solving large-scale optimization problems. The
prevalent approaches are first-order methods, valued for their scalability. These methods are …

In this paper, we investigate the ability of deep neural networks to provide curse-of-
dimensionality-free approximations of control Lyapunov functions. To achieve this, we first …

Control design for robotic systems guaranteeing safety and convergence properties in
cluttered environments is intrinsically challenging due to their potentially conflicting ob …