Related papers: Computing Forward Reachable Sets for Nonlinear Ada…
In real world applications, uncertain parameters are the rule rather than the exception. We present a reachability algorithm for linear systems with uncertain parameters and inputs using set propagation of polynomial zonotopes. In contrast…
Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…
The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
Reachable sets for a dynamical system describe collections of system states that can be reached in finite time, subject to system dynamics. They can be used to guarantee goal satisfaction in controller design or to verify that unsafe…
Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…
Constrained reinforcement learning (CRL) has gained significant interest recently, since safety constraints satisfaction is critical for real-world problems. However, existing CRL methods constraining discounted cumulative costs generally…
This paper addresses the conservatism in data-driven reachability analysis for discrete-time linear systems subject to bounded process noise, where the system matrices are unknown and only input--state trajectory data are available.…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
This paper proposes an original solution to input saturation and dead zone of fractional order system. To overcome these nonsmooth nonlinearities, the control input is decomposed into two independent parts by introducing an intermediate…
This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB) based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is…
We present a method of computing backward reachable sets for nonlinear discrete-time control systems possessing continuous symmetries. The starting point is a dynamic game formulation of reachability analysis where control inputs aim to…
Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer…
Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…
This work presents an algorithmic scheme for solving the infinite-time constrained linear quadratic regulation problem. We employ an accelerated version of a popular proximal gradient scheme, commonly known as the Forward-Backward Splitting…
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…
Multirotors play a significant role in diverse field robotics applications but remain highly susceptible to actuator failures, leading to rapid instability and compromised mission reliability. While various fault-tolerant control (FTC)…
The Hopf formula for Hamilton-Jacobi reachability (HJR) analysis has been proposed to solve high-dimensional differential games, producing the set of initial states and corresponding controller required to reach (or avoid) a target despite…
We present GPU-SLS, a GPU-parallelized framework for safe, robust nonlinear model predictive control (MPC) that scales to high-dimensional uncertain robotic systems and long planning horizons. Our method jointly optimizes an…
In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…