相关论文: Polytope Volume Monitoring Problem: Formulation an…

In this work, we propose a new numerical method for the Vlasov-Poisson system that is both asymptotically consistent and stable in the quasineutral regime, i.e. when the Debye length is small compared to the characteristic spatial scale of…

This paper presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particular, it is shown that dynamic safety margins (DSMs) are CBFs…

We study some numerical methods for solving second order elliptic problem with interface. We introduce an immersed interface finite element method based on the `broken' $P_1$-nonconforming piecewise linear polynomials on interface…

This article proposes a new approach based on finite-horizon parameterizing manifolds (PMs) for the design of low-dimensional suboptimal controllers to optimal control problems of nonlinear partial differential equations (PDEs) of parabolic…

This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…

We present verifiable conditions for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety under bounded controls. These sufficient conditions ensure the strict compatibility of a control barrier…

Projected Dynamical Systems (PDSs) form a class of discontinuous constrained dynamical systems, and have been used widely to solve optimization problems and variational inequalities. Recently, they have also gained significant attention for…

We consider a parametric quasi-variational inequality (QVI) without any convexity assumption. Using the concept of \emph{optimal value function}, we transform the problem into that of solving a nonsmooth system of inequalities. Based on…

We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. These algorithms rely on distributing a control barrier function (CBF) related quadratic programming (QP) problem…

In this paper, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying (NPV) approach to design a state-feedback controller for a control moment gyroscope (CMG) to track a user-defined trajectory set. This…

We propose to solve polynomial hyperbolic partial differential equations (PDEs) with convex optimization. This approach is based on a very weak notion of solution of the nonlinear equation, namely the measure-valued (mv) solution,…

Optimal control problems with discrete-valued inputs are inherently challenging due to their mixed-integer nature, rendering them generally intractable for real-time, safety-critical aerospace applications. Lossless convexification offers a…

We develop a novel adaptation-based technique for safe control design in the presence of multiple control barrier function (CBF) constraints. Specifically, we introduce an approach for synthesizing any number of candidate CBFs into one…

This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system…

Configuration-Constrained Tube Model Predictive Control (CCTMPC) offers flexibility by using a polytopic parameterization of invariant sets and the optimization of an associated vertex control law. This flexibility, however, often demands…

This paper considers the finite element approximation to parabolic optimal control problems with measure data in a nonconvex polygonal domain. Such problems usually possess low regularity in the state variable due to the presence of measure…

Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are popular tools for enforcing safety and stability of a controlled system, respectively. They are commonly utilized to build constraints that can be incorporated in a…

We derive novel algorithms for optimization problems constrained by partial differential equations describing multiscale particle dynamics, including non-local integral terms representing interactions between particles. In particular, we…

As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essential for robust performance. In this paper we present a…

The non-linear collision-induced breakage equation has significant applications in particulate processes. Two semi-analytical techniques, namely homotopy analysis method (HAM) and accelerated homotopy perturbation method (AHPM) are…