Related papers: Optimal Take-off under Fuzzy Clearances
Fuzzy systems have achieved great success in numerous applications. However, there are still many challenges in designing an optimal fuzzy system, e.g., how to efficiently optimize its parameters, how to balance the trade-off between…
In many resource-limited optimal control problems, multiple constraints may be enforced that are jointly infeasible due to external factors such as subsystem failures, unexpected disturbances, or fuel limitations. In this manuscript, we…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this…
Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are…
This paper develops a robust fixed time optimization framework for constrained problems that guarantees exact constraint satisfaction and convergence to KKT points within fixed time , independent of initial conditions. The approach treats…
Phishing attacks represent an increasingly sophisticated and pervasive threat to individuals and organizations, causing significant financial losses, identity theft, and severe damage to institutional reputations. Existing phishing…
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) safety filters are point-wise and may…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
Traffic is the chief puzzle problem which every country faces because of the enhancement in number of vehicles throughout the world, especially in large urban towns. Hence the need arises for simulating and optimizing traffic control…
Numerical simulations are essential for evaluating the performance and safety of geological engineered systems such as geologic carbon storage sites, enhanced geothermal fields, and oil and gas reservoirs. A key challenge lies in accurately…
Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based methods to systematically construct CBFs for static obstacle…
Deep learning models, despite their popularity, face challenges such as long training times and a lack of interpretability. In contrast, fuzzy inference systems offer a balance of accuracy and transparency. This paper addresses the…
Remain Well Clear, keeping the aircraft away from hazards by the appropriate separation distance, is an essential technology for the safe operation of uncrewed aerial vehicles in congested airspace. This work focuses on automating the…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
Abstract-In this manuscript, model predictive control for class of discrete fuzzy large-scale systems subjected to bounded time-varying delay and disturbances is studied. The considered method is Razumikhin for time-varying delay…
This paper investigates joint trajectory and active beamforming design for unmanned aerial vehicle (UAV)-enabled ultra-reliable low-latency communication (URLLC) systems under finite blocklength (FBL) transmission. Unlike conventional…
Unmanned Aerial Vehicles (UAVs) have significantly enhanced fog computing by acting as both flexible computation platforms and communication mobile relays. In this paper, we consider four important and interdependent modules: attitude…
As we move to increasingly complex cyber-physical systems (CPS), new approaches are needed to plan efficient state trajectories in real-time. In this paper, we propose an approach to significantly reduce the complexity of solving optimal…
Automated Guided Vehicles (AGVs) are essential in various industries for their efficiency and adaptability. However, planning trajectories for AGVs in obstacle-dense, unstructured environments presents significant challenges due to the…