Lyapunov-Based Control

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Overview

The field uses Lyapunov functions—scalar measures that decrease along system trajectories—to prove convergence and design feedback for robots, vehicles, and other nonlinear systems. Control Lyapunov functions encode progress toward goals, while control barrier functions, often combined in quadratic programs or closed-form safety filters, enforce state and actuator constraints. Current work also learns Lyapunov certificates or uses them to guide reinforcement learning, adaptive control, communication timing, and generative flows, with evaluation ranging from simulation to hardware. A central challenge is preserving rigorous guarantees under model error, partial observability, actuator limits, and distribution shifts without making controllers too conservative or computationally expensive.

Latest papers

CardsList

17 papers1 paper in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

  1. Spiking Neuromorphic Control for Periodic Orbits Stabilization in Underactuated Robots: A Greedy Lyapunov-Based Approach

    Oct 27, 2026Maksim Surov, Oleg SumenkovRobotic ControlRobot Trajectory Tracking

    The authors are with Mathematical Robotics Science Division, Sirius University of Science and Technology, Olympiyskiy Av. 1, Sirius, 354340 Russia

  2. LyapuFlow: Controlling Generative Flows with Lyapunov Feedback for Inverse Problems

    Oct 3, 2026Minseon Gwak, Hans Hao-Hsun Hsu, Danielle C. Maddix +1Constrained Generative ModelingInference-Time Guidance

    Lawrence Berkeley National Lab · International Computer Science Institute · Georgia Institute of Technology +1

  3. Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions

    Sep 22, 2026Nicola De Carli, João Zenário, Victor Nan Fernandez-Ayala +1Multi-Robot Formation ControlLyapunov-Based Control

  4. CALOS: Control-Affine Lyapunov On-manifold Safety Layer for Safe Deep Reinforcement Learning for Quadrotors

    Sep 15, 2026Fabrizio Cesareo, Sebastiano Mengozzi, Nicola Mimmo +1RL ControlLyapunov-Based Control

    Department of Electrical, Electronic, and Information Engineering “Guglielmo Marconi” — DEI University of Bologna, Italy

  5. Optimal Safety Control using High-Order Control Barrier Functions

    Jul 19, 2026Neng Li, Zuodong Pan, Jiaxing Wang +2Lyapunov-Based ControlSafety-Critical Control

    Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education, Dalian University of Technology, Dalian 116024, China

  6. Lyapunov Guidance: A Unified Framework for Stabilizing Generative Flows

    Jul 15, 2026Jingdong Zhang, Xinze Li, Yize Jiang +3Flow MatchingLyapunov-Based Control

    Department of Mathematics and I-X, Imperial College London, London, United Kingdom · MicroCyto, Beijing, China · Research Institute of Intelligent Complex Systems, Fudan University, Shanghai, China +1

  7. Lyapunov-Guided Training for Hardware-Safe Neural Networks Under Fixed-Point Arithmetic

    Jul 5, 2026Anis Hamadouche, Amir HussainLyapunov-Based ControlQuantization-Aware Training

    The School of Engineering & Physical Sciences Heriot-Watt University Edinburgh EH14 4AS, UK · SDAIA-KFUPM Joint Research Centre for Artificial Intelligence King Fahd University of Petroleum and Minerals Dhahran, Saudi Arabia

  8. Reachability Guarantees for Cart-Pole Swing-Up and Stabilization

    Jun 26, 2026Mohamed Khalid M JaffarReachability AnalysisLyapunov-Based Control

    Department of Aerospace Engineering University of Maryland, College Park, USA

  9. Learning to Adapt: Reptile-D-Learning for Robust and Efficient Control Under Parametric Uncertainty

    Jun 24, 2026Haipeng Cao, Zhaolong Shen, Quan QuanLyapunov-Based ControlRobust Control

    School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, P.R. China

  10. Robust Conformal CBF and CLF Controllers via Iterative Policy Updates

    Jun 13, 2026Omid Mirzaeedodangeh, Eliot Shekhtman, Nikolai Matni +1Distribution Shift RobustnessLyapunov-Based Control

    1Automatic Control Laboratory, ETH Zürich, Switzerland. · 2Computer and Information Science, University of Pennsylvania, USA. · 3Electrical and Systems Engineering, University of Pennsylvania, USA.

  11. L-Learning : A Lyapunov-Based Approach Leveraging Lagrangian Mechanics for Efficient and Stable Robot Tracking

    May 26, 2026Quan Quan, Hao LiRobotic ControlRobot Trajectory Tracking

    1Quan Quan and Hao Li are with School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

  12. Learning When to Act: Communication-Efficient Reinforcement Learning via Run-Time Assurance

    May 11, 2026Adam Haroon, Erick J. Rodríguez-Seda, Cody Fleming +1Policy LearningLyapunov-Based Control

    Department of Mechanical Engineering, Iowa State University, Ames, IA, USA · Navy Center for Applied Research in Artificial Intelligence (NCARAI), U.S. Naval Research Laboratory, Washington, D.C., USA · Department of Weapons, Robotics, and Control Engineering, United States Naval Academy, Annapolis, MD, USA

  13. Learned Lyapunov Shielding for Adaptive Control

    May 7, 2026Giansalvo Cirrincione, Adriano FagioliniLyapunov-Based ControlSafe RL

    Laboratoire LTI, Université de Picardie Jules Verne, Amiens, France. · MIRPALab, Department of Engineering, University of Palermo, 90128 Palermo, Italy.

  14. A Closed-Form CLF-CBF Controller for Whole-Body Continuum Soft Robot Collision Avoidance

    Mar 19, 2026Kiwan Wong, Maximillian Stölzle, Wei Xiao +1Control Lyapunov FunctionsContinuum Robot Control

    Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA · Robotics Engineering Department, Worcester Polytechnic Institute, Worcester, MA 01609, USA

  15. Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control

    Mar 11, 2026Matti Vahs, Joris Verhagen, Jana TumovaControl Lyapunov FunctionsPartially Observable Markov Decision Processes

    Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden · Digital Futures

  16. Control Lyapunov Functions for Underactuated Soft Robots

    Mar 5, 2026Huy Pham, Zach J. PattersonRobotic ControlSoft Robotics

    Mechanical and Aerospace Engineering, Case Western Reserve University

  17. Lyapunov-Based PI-Like Control for Robust Trajectory Tracking of a Four-Wheel Independently Driven and Steered Robot: Design and Experimental Validation

    Feb 17, 2026Branimir Ćaran, Vladimir Milić, Marko Švaco +1PID ControlRobot Trajectory Tracking

    Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb HR-10000, Croatia · Croatian Academy of Sciences and Arts, Zagreb 10000, Croatia